s7-1500 Motion Control Function Manual

S7-1500 Motion Control V13 Update 3 ___________________
Preface
Guide to documentation
___________________
S7-1500 / ET 200MP 1
___________________
Introduction 2
SIMATIC
___________________
Basics 3
S7-1500
S7-1500 Motion Control V13 ___________________
Guidelines 4
Update 3
___________________
Using versions 5
Function Manual
___________________
Configuring 6
___________________
Programming 7
___________________
Downloading to CPU 8
___________________
Commissioning 9
___________________
Diagnostics 10
___________________
Instructions 11
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Appendix A
07/2014
A5E03879256-AC
Legal information
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Disclaimer of Liability
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described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG A5E03879256-AC Copyright © Siemens AG 2013 - 2014.

Industry Sector Ⓟ 07/2014 Subject to change All rights reserved
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Preface
Purpose of the documentation

This documentation provides important information that you need to configure and
commission the integrated Motion Control functionality of the S7-1500 Automation systems.
Required basic knowledge

In order to understand this documentation, the following knowledge is required:
● General knowledge in the field of automation
● General knowledge in the field of drive engineering and motion control
Validity of the documentation

This documentation is valid for the S7-1500 product range.
Conventions
● For the path settings in the project navigation it is presumed that the "Technology objects"
object is opened in the CPU subtree. The "Technology object" placeholder represents the
name of the technology object.
Example: "Technology object > Configuration > Basic parameters".
● The <TO> placeholder represents the name set in tags for the respective technology
object.
Example: <TO>.Actor.Type
● This documentation contains pictures of the devices described. The pictures may differ in
minor details from the devices supplied.
You should also observe the notes that are marked as follows:
Note
A note contains important information about the product described in the documentation,
about the handling of the product, and about sections in this documentation demanding your
particular attention.
Further support
● The range of technical documentation for the individual SIMATIC products and systems is
available on the Internet (http://www.siemens.com/simatic-tech-doku-portal).
● The online catalog and the online ordering system is available on the Internet
(http://mall.automation.siemens.com).
S7-1500 Motion Control V13 Update 3

Function Manual, 07/2014, A5E03879256-AC 3
Preface
Security information
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secure operation of plants, solutions, machines, equipment and/or networks. They are
important components in a holistic industrial security concept. With this in mind, Siemens’
products and solutions undergo continuous development. Siemens recommends strongly
that you regularly check for product updates.
For the secure operation of Siemens products and solutions, it is necessary to take suitable
preventive action (e.g. cell protection concept) and integrate each component into a holistic,
state-of-the-art industrial security concept. Third-party products that may be in use should
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To stay informed about product updates as they occur, sign up for a product-specific
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(http://support.automation.siemens.com).

4 Function Manual, 07/2014, A5E03879256-AC
Table of contents
Preface ...................................................................................................................................................... 3
1 Guide to documentation S7-1500 / ET 200MP......................................................................................... 13
2 Introduction .............................................................................................................................................. 15
2.1 Integrated Motion Control Functionality of the CPU S7-1500 ................................................15
2.2 Principle of operation of S7-1500 Motion Control ...................................................................16
3 Basics ...................................................................................................................................................... 20
3.1 Functions ................................................................................................................................20
3.2 Scale .......................................................................................................................................21
3.3 Speed-controlled axis technology object ................................................................................21
3.4 Positioning axis technology object ..........................................................................................22
3.5 Synchronous axis technology object ......................................................................................23
3.6 External encoder technology object........................................................................................25
3.7 Axis types ................................................................................................................................26
3.8 Modulo setting.........................................................................................................................26
3.9 Units of measure .....................................................................................................................27
3.10 Drive and encoder connection ................................................................................................28
3.10.1 Brief description ......................................................................................................................28
3.10.2 Frames ....................................................................................................................................29
3.10.3 Setting reference values .........................................................................................................31
3.10.4 Tags ........................................................................................................................................32
3.11 Safety functions in the drive ....................................................................................................33
3.11.2 Safe Torque Off (STO) ...........................................................................................................33
3.11.3 Safe Stop 1 (SS1) ...................................................................................................................34
3.11.4 Safe Stop 2 (SS2) ...................................................................................................................34
3.12 Actual values...........................................................................................................................35
3.12.2 Incremental actual value .........................................................................................................35
3.12.3 Absolute actual value ..............................................................................................................35
3.12.4 Tags ........................................................................................................................................36
3.13 Mechanics ...............................................................................................................................37
3.13.2 Tags ........................................................................................................................................38
3.14 Homing ....................................................................................................................................39
3.14.2 Terms ......................................................................................................................................40
3.14.3 Homing mode..........................................................................................................................41

Table of contents
3.14.4 Active homing with zero mark and proximity switch .............................................................. 43
3.14.5 Active homing with zero mark ................................................................................................ 46
3.14.6 Active homing with digital input .............................................................................................. 48
3.14.7 Passive homing with zero mark and proximity switch............................................................ 50
3.14.8 Passive homing with zero mark ............................................................................................. 52
3.14.9 Passive homing with digital input ........................................................................................... 54
3.14.10 Direction reversal at the hardware limit switch (reversing cam) ............................................ 55
3.14.11 Direct homing ......................................................................................................................... 56
3.14.12 Absolute value adjustment ..................................................................................................... 56
3.14.13 Resetting the "Homed" status ................................................................................................ 57
3.14.14 Tags ....................................................................................................................................... 58
3.15 Control.................................................................................................................................... 59
3.15.1 Brief description ..................................................................................................................... 59
3.15.2 Control structure..................................................................................................................... 60
3.15.3 Tags ....................................................................................................................................... 61
3.16 Position-related monitoring .................................................................................................... 61
3.16.2 Positioning monitoring ............................................................................................................ 62
3.16.3 Following error monitoring ..................................................................................................... 63
3.16.4 Tags ....................................................................................................................................... 64
3.17 Traversing range limitation..................................................................................................... 65
3.17.2 Hardware limit switches ......................................................................................................... 65
3.17.3 Software limit switch .............................................................................................................. 67
3.17.4 Tags ....................................................................................................................................... 68
3.18 Motion control and limits for dynamics ................................................................................... 69
3.18.2 Velocity profile ........................................................................................................................ 70
3.18.3 Emergency stop deceleration ................................................................................................ 71
3.18.4 Tags ....................................................................................................................................... 72
3.19 Synchronous operation .......................................................................................................... 73
3.19.2 Relative gearing ..................................................................................................................... 74
3.19.3 Master value coupling ............................................................................................................ 76
3.19.4 Tags ....................................................................................................................................... 77
3.20 Operational sequence ............................................................................................................ 78
3.20.1 Organization Blocks for Motion Control ................................................................................. 78
3.20.2 Process image partition "OB Servo PIP" ............................................................................... 80
3.20.3 Operational Sequence and Timeouts .................................................................................... 80
3.20.4 Operating modes ................................................................................................................... 83
4 Guidelines................................................................................................................................................ 85
4.1 Guidelines on use of motion control....................................................................................... 85
5 Using versions ......................................................................................................................................... 86
5.1 Overview of versions .............................................................................................................. 86
5.2 Changing a technology version.............................................................................................. 89

Table of contents
6 Configuring .............................................................................................................................................. 91
6.1 Adding and configuring drives in the device configuration .....................................................91
6.1.1 Add and configure PROFINET IO drives ................................................................................91
6.1.2 Add and configure PROFIBUS DP drives...............................................................................94
6.1.3 Adding and configuring drives with analog connections .........................................................96
6.2 Add technology object ............................................................................................................99
6.3 Working with the configuration editor....................................................................................100
6.4 Compare values ....................................................................................................................101
6.5 Configuring the Speed-Control Axis technology object ........................................................102
6.5.1 Configuration - Basic Parameters .........................................................................................102
6.5.2 Hardware interface................................................................................................................102
6.5.2.1 Configuration - Drive .............................................................................................................102
6.5.2.2 Configuration - Data exchange .............................................................................................104
6.5.3 Extended Parameters ...........................................................................................................105
6.5.3.1 Configuration - Mechanics ....................................................................................................105
6.5.3.2 Configuration - Dynamic limits ..............................................................................................105
6.5.3.3 Configuration - Dynamic Defaults .........................................................................................107
6.5.3.4 Configuration - Emergency stop ...........................................................................................109
6.6 Configuring the positioning axis/synchronous axis technology object..................................110
6.6.2.1 Configuration - Drive .............................................................................................................111
6.6.2.2 Configuration - Encoder ........................................................................................................113
6.6.3 Configuration - master value interconnections (synchronous axis only) ..............................124
6.6.4.2 Configuration - Position monitoring.......................................................................................129
6.6.4.3 Configuration - Dynamic limits ..............................................................................................130
6.6.4.4 Configuration - Dynamic Defaults .........................................................................................132
6.6.4.5 Configuration - Emergency stop ...........................................................................................134
6.6.4.6 Homing ..................................................................................................................................135
6.6.4.7 Position monitoring ...............................................................................................................144
6.6.4.8 Configuration - Control loop ..................................................................................................146
6.7 Configuring the External Encoder technology object ............................................................147
6.7.2.1 Configuration - Encoder ........................................................................................................148
6.7.3.2 Homing ..................................................................................................................................155
6.8 Parameter view .....................................................................................................................159
6.8.1 Introduction to the parameter view .......................................................................................159
6.8.2 Structure of the parameter view............................................................................................161
6.8.2.1 Toolbar ..................................................................................................................................161
6.8.2.2 Navigation .............................................................................................................................161
6.8.2.3 Parameter table ....................................................................................................................162

Table of contents
6.8.3 Opening the parameter view ................................................................................................ 163

6.8.4 Working with the parameter view ......................................................................................... 164
6.8.4.1 Overview .............................................................................................................................. 164
6.8.4.2 Filtering the parameter table ................................................................................................ 164
6.8.4.3 Sorting the parameter table ................................................................................................. 165
6.8.4.4 Transferring parameter data to other editors ....................................................................... 165
6.8.4.5 Indicating errors ................................................................................................................... 166
6.8.4.6 Editing start values in the project ......................................................................................... 166
6.8.4.7 Monitoring values online in the parameter view................................................................... 168
6.8.4.8 Modifying values .................................................................................................................. 169
6.8.4.9 Comparing values ................................................................................................................ 170
7 Programming ......................................................................................................................................... 172
7.1 Introduction .......................................................................................................................... 172
7.2 Technology data block ......................................................................................................... 172
7.2.1 Introduction .......................................................................................................................... 172
7.2.2 Evaluating the technology data block .................................................................................. 173
7.2.3 Evaluate StatusWord, ErrorWord and WarningWord .......................................................... 175
7.2.4 Change restart-relevant data ............................................................................................... 177
7.3 Motion Control instructions .................................................................................................. 178
7.3.1 Motion Control instruction parameters ................................................................................. 178
7.3.2 Add Motion Control instructions ........................................................................................... 181
7.4 Starting Motion Control jobs................................................................................................. 183
7.5 Tracking active jobs ............................................................................................................. 184
7.5.1 Introduction .......................................................................................................................... 184
7.5.2 Motion Control instructions with "Done" parameter ............................................................. 185
7.5.3 Motion Control instructions without "Done" parameter ........................................................ 189
7.5.4 Motion Control instruction "MC_MoveJog" .......................................................................... 193
7.6 Ending Motion Control jobs .................................................................................................. 196
7.7 Restart of technology objects............................................................................................... 197
8 Downloading to CPU ............................................................................................................................. 198
9 Commissioning ...................................................................................................................................... 199
9.1 Introduction .......................................................................................................................... 199
9.2 Commissioning guidelines ................................................................................................... 199
9.3 Axis control panel ................................................................................................................. 202
9.3.1 Function and structure of the axis control panel .................................................................. 202
9.3.2 Using the axis control panel ................................................................................................. 206
9.4 Optimization ......................................................................................................................... 207
9.4.1 Function and structure of the optimization ........................................................................... 207
9.4.2 Optimize position controller.................................................................................................. 210
9.5 Simulation mode .................................................................................................................. 213

Table of contents
10 Diagnostics ............................................................................................................................................ 214

10.1 Introduction ...........................................................................................................................214
10.2 Diagnostic concept................................................................................................................214
10.3 Technology alarms................................................................................................................215
10.4 Errors in Motion Control instructions.....................................................................................219
10.5 Speed-controlled axis technology object ..............................................................................220
10.5.1 Status and error bits..............................................................................................................220
10.5.2 Motion status.........................................................................................................................223
10.5.3 PROFIdrive frame .................................................................................................................224
10.6 Positioning axis/synchronous axis technology object ...........................................................225
10.6.2 Motion status.........................................................................................................................229
10.7 External encoder technology object......................................................................................231
10.7.2 Motion status.........................................................................................................................232
11 Instructions ............................................................................................................................................ 234
11.1 S7-1500 Motion Control V2 ..................................................................................................234
11.1.1 MC_Power ............................................................................................................................234
11.1.1.1 MC_Power: Enable, disable technology objects V2 .............................................................234
11.1.1.2 MC_Power: Function chart V2 ..............................................................................................238
11.1.2 MC_Home .............................................................................................................................239
11.1.2.1 MC_Home: Home technology objects, set home position V2 ..............................................239
11.1.3 MC_MoveJog ........................................................................................................................244
11.1.3.1 MC_MoveJog: Move axes in jog mode V2 ...........................................................................244
11.1.3.2 MC_MoveJog: Function chart V2..........................................................................................248
11.1.4 MC_MoveVelocity .................................................................................................................249
11.1.4.1 MC_MoveVelocity: Move axes at predefined velocity V2 .....................................................249
11.1.4.2 MC_MoveVelocity: Function chart V2 ...................................................................................254
11.1.5 MC_MoveRelative .................................................................................................................255
11.1.5.1 MC_MoveRelative: Relative positioning of axes V2 .............................................................255
11.1.5.2 MC_MoveRelative: Function chart V2 ..................................................................................259
11.1.6 MC_MoveAbsolute ................................................................................................................260
11.1.6.1 MC_MoveAbsolute: Absolute positioning of axes V2 ...........................................................260
11.1.6.2 MC_MoveAbsolute: Function chart V2 .................................................................................264
11.1.7 MC_MoveSuperimposed ......................................................................................................265
11.1.7.1 MC_MoveSuperimposed: Superimposed positioning of axes V2 .........................................265
11.1.7.2 MC_MoveSuperimposed: Function chart V2 ........................................................................269
11.1.8 MC_GearIn............................................................................................................................270
11.1.8.1 MC_GearIn: Start gearing V2 ...............................................................................................270
11.1.8.2 MC_GearIn: Function chart V2 .............................................................................................274
11.1.9 MC_Halt ................................................................................................................................275
11.1.9.1 MC_Halt: Stop axes V2 .........................................................................................................275
11.1.9.2 MC_Halt: Function chart V2 ..................................................................................................278
11.1.10 MC_Reset .............................................................................................................................279
11.1.10.1 MC_Reset: Acknowledge alarms, restart technology objects V2 .........................................279

Table of contents
11.2 S7-1500 Motion Control V1.................................................................................................. 282

11.2.1 MC_Power............................................................................................................................ 282
11.2.1.1 MC_Power: Enable, disable technology objects V1 ............................................................ 282
11.2.1.2 MC_Power: Function chart V1 ............................................................................................. 286
11.2.2 MC_Home ............................................................................................................................ 287
11.2.2.1 MC_Home: Home technology objects, set home position V1 .............................................. 287
11.2.3 MC_MoveJog ....................................................................................................................... 292
11.2.3.1 MC_MoveJog: Move axes in jog mode V1 .......................................................................... 292
11.2.3.2 MC_MoveJog: Function chart V1 ......................................................................................... 296
11.2.4 MC_MoveVelocity ................................................................................................................ 297
11.2.4.1 MC_MoveVelocity: Move axes at predefined specified velocity V1 ..................................... 297
11.2.4.2 MC_MoveVelocity: Function chart V1 .................................................................................. 302
11.2.5 MC_MoveRelative ................................................................................................................ 303
11.2.5.1 MC_MoveRelative: Relative positioning of axes V1 ............................................................ 303
11.2.5.2 MC_MoveRelative: Function chart V1 ................................................................................. 307
11.2.6 MC_MoveAbsolute ............................................................................................................... 308
11.2.6.1 MC_MoveAbsolute: Absolute positioning of axes V1 .......................................................... 308
11.2.6.2 MC_MoveAbsolute: Function chart V1 ................................................................................ 312
11.2.7 MC_Halt ............................................................................................................................... 313
11.2.7.1 MC_Halt: Stop axes V1 ........................................................................................................ 313
11.2.7.2 MC_Halt: Function chart V1 ................................................................................................. 317
11.2.8 MC_Reset ............................................................................................................................ 318
11.2.8.1 MC_Reset: Acknowledge alarms, restart technology objects V1 ........................................ 318
A Appendix................................................................................................................................................ 321
A.1 Tags of the technology object SpeedAxis ............................................................................ 321
A.1.1 Legend ................................................................................................................................. 321
A.1.2 Actual values and setpoints (speed axis) ............................................................................ 321
A.1.3 Variable simulation (speed axis) .......................................................................................... 322
A.1.4 Actor tags (speed axis) ........................................................................................................ 322
A.1.5 LoadGear tags (speed axis)................................................................................................. 323
A.1.6 DynamicLimits tags (speed axis) ......................................................................................... 324
A.1.7 DynamicDefaults tags (speed axis) ..................................................................................... 324
A.1.8 Override tags (speed axis) ................................................................................................... 325
A.1.9 StatusDrive tags (speed axis) .............................................................................................. 325
A.1.10 StatusWord tag (speed axis)................................................................................................ 326
A.1.11 ErrorWord tag (speed axis) .................................................................................................. 328
A.1.12 ErrorDetail tags (speed axis) ............................................................................................... 329
A.1.13 WarningWord tag (speed axis) ............................................................................................ 330
A.1.14 ControlPanel tags (speed axis) ............................................................................................ 331
A.1.15 InternalToTrace tags (speed axis) ....................................................................................... 332
A.2 Tags of the positioning axis/synchronous axis technology object ....................................... 332
A.2.1 Legend ................................................................................................................................. 332
A.2.2 Actual values and setpoints (positioning axis/synchronous axis) ........................................ 333
A.2.3 Simulation tag (positioning axis / synchronous axis) ........................................................... 333
A.2.4 Actor tags (positioning axis/synchronous axis) .................................................................... 334
A.2.5 Sensor[n] tags (positioning axis/synchronous axis) ............................................................. 336
A.2.6 LoadGear tags (positioning axis/synchronous axis) ............................................................ 338
A.2.7 Mechanics tags (positioning axis/synchronous axis) ........................................................... 338
A.2.8 Properties tags (positioning axis/synchronous axis) ............................................................ 338
A.2.9 Modulo tags (positioning axis/synchronous axis) ................................................................ 339
A.2.10 DynamicLimits tags (positioning axis/synchronous axis) ..................................................... 339

Table of contents
A.2.11 DynamicDefaults tags (positioning axis/synchronous axis) ..................................................340

A.2.12 PositionLimits_SW tags (positioning axis/synchronous axis) ...............................................340
A.2.13 PositionLimits_HW tags (positioning axis/synchronous axis) ...............................................341
A.2.14 Homing tags (positioning axis/synchronous axis).................................................................342
A.2.15 Override tags (positioning axis/synchronous axis) ...............................................................343
A.2.16 PositionControl tags (positioning axis/synchronous axis).....................................................344
A.2.17 FollowingError tags (positioning axis/synchronous axis) ......................................................345
A.2.18 PositionMonitoring tags (positioning axis/synchronous axis) ...............................................346
A.2.19 StandstillSignal tags (positioning axis/synchronous axis) ....................................................347
A.2.20 StatusPositioning tags (positioning axis/synchronous axis) .................................................347
A.2.21 StatusDrive tags (positioning axis/synchronous axis) ..........................................................348
A.2.22 StatusSensor[n] tags (positioning axis/synchronous axis) ...................................................349
A.2.23 StatusSynchronizedMotion tags (synchronous axis) ............................................................350
A.2.24 StatusWord tag (positioning axis/synchronous axis) ............................................................351
A.2.25 ErrorWord tag (positioning axis/synchronous axis) ..............................................................353
A.2.26 ErrorDetail tags (positioning axis/synchronous axis) ............................................................355
A.2.27 WarningWord tag (positioning axis/synchronous axis) .........................................................356
A.2.28 ControlPanel tags (positioning axis/synchronous axis) ........................................................357
A.2.29 InternalToTrace tags (positioning axis/synchronous axis)....................................................358
A.3 Tags of the technology object external encoder ...................................................................358
A.3.1 Legend ..................................................................................................................................358
A.3.2 Actual values and setpoints (external encoder) ....................................................................359
A.3.3 Sensor tags (external encoder) ............................................................................................359
A.3.4 Mechanics tags (external encoder).......................................................................................361
A.3.5 LoadGear tags (external encoder) ........................................................................................361
A.3.6 Properties tags (external encoder) .......................................................................................361
A.3.7 Modulo tags (external encoder) ............................................................................................362
A.3.8 Homing tags (external encoder) ...........................................................................................362
A.3.9 StatusSensor tags (external encoder) ..................................................................................363
A.3.10 StatusWord tag (external encoder) .......................................................................................364
A.3.11 ErrorWord tag (external encoder) .........................................................................................365
A.3.12 ErrorDetail tags (external encoder).......................................................................................366
A.3.13 WarningWord tag (external encoder)....................................................................................367
A.3.14 InternalToTrace tags (external encoder) ..............................................................................367
A.4 Technology alarms................................................................................................................368
A.4.1 Overview ...............................................................................................................................368
A.4.2 Technology alarms 101-110 .................................................................................................371
A.4.7 Technology alarm 601 ..........................................................................................................385
A.5 Error ID .................................................................................................................................386
A.6 MC_Power function chart ......................................................................................................388
A.6.1 Drive connection via PROFIdrive..........................................................................................388
A.6.1.1 StopMode 0...........................................................................................................................388
A.6.1.2 StopMode 1...........................................................................................................................389
A.6.1.3 Alarm response "Stop with maximum dynamic values"........................................................390
A.6.1.4 Alarm response "Remove enable" ........................................................................................391

Table of contents
A.6.2 Analog drive connection....................................................................................................... 392

A.6.2.1 StopMode 0 .......................................................................................................................... 392
A.6.2.2 StopMode 1 .......................................................................................................................... 393
A.6.2.3 Alarm response "Stop with maximum dynamic values" ....................................................... 394
A.6.2.4 Alarm response "Remove enable" ....................................................................................... 395
A.7 SINAMICS drives ................................................................................................................. 396
A.7.1 Homing SINAMICS drives with external zero marks ........................................................... 396
Glossary ................................................................................................................................................ 397
Index ...................................................................................................................................................... 400

Guide to documentation S7-1500 / ET 200MP 1
The documentation for the SIMATIC S7-1500 automation system and the SIMATIC
ET 200MP distributed I/O system is arranged into three areas.
This arrangement enables you to access the specific content you require.
Basic information
System Manual and Getting Started describe in detail the configuration, installation, wiring
and commissioning of the SIMATIC S7-1500 and ET 200MP systems. The STEP 7 online
help supports you in the configuration and programming.
Device information
Manuals contain a compact description of the module-specific information, such as
properties, terminal diagrams, characteristics, technical specifications.
General information
The function manuals contain detailed descriptions on general topics regarding the SIMATIC
S7-1500 and ET 200MP systems, e.g. diagnostics, communication, Motion Control, Web
server.
You can download the documentation free of charge from the Internet
(http://www.automation.siemens.com/mcms/industrial-automation-systems-
simatic/en/manual-overview/tech-doc-controllers/Pages/Default.aspx).
Changes and supplements to the manuals are documented in a Product Information.

Guide to documentation S7-1500 / ET 200MP
Manual Collection S7-1500 / ET 200MP

The Manual Collection contains the complete documentation on the SIMATIC S7-1500
automation system and the ET 200MP distributed I/O system gathered together in one file.
You can find the Manual Collection on the Internet
(http://support.automation.siemens.com/WW/view/en/86140384).
My Documentation Manager
The My Documentation Manager is used to combine entire manuals or only parts of these to
your own manual.
You can export the manual as PDF file or in a format that can be edited later.
You can find the My Documentation Manager on the Internet
Applications & Tools

Applications & Tools supports you with various tools and examples for solving your
automation tasks. Solutions are shown in interplay with multiple components in the system -
separated from the focus in individual products.
You can find Applications & Tools on the Internet
CAx Download Manager

The CAx Download Manager is used to access the current product data for your CAx or CAe
systems.
You configure your own download package with a few clicks.
In doing so you can select:
● Product images, 2D dimension drawings, 3D models, internal circuit diagrams, EPLAN
macro files
● Manuals, characteristics, operating manuals, certificates
● Product master data
You can find the CAx Download Manager on the Internet

Introduction 2
2.1 Integrated Motion Control Functionality of the CPU S7-1500
S7-1500 Motion Control supports controlled positioning and moving of axes and is an
integral part of every CPU S7-1500 as well as every CPU S7-1500SP. The Motion Control
functionality supports the technology objects rotation axis, positioning axis, synchronous axis
and external encoders.
Drives with PROFIdrive capability and drives with analog setpoint interface are controlled by
means of standardized Motion Control instructions according to PLCopen.
The axis control panel and comprehensive online and diagnostic functions support easy
commissioning and optimization of drives.
S7-1500 Motion Control is constantly integrated into the CPU S7-1500 system diagnostics.

Introduction
2.2 Principle of operation of S7-1500 Motion Control
Overview
You create a project, configure technology objects, and load the configuration into the CPU
using the TIA Portal. The Motion Control functionality is processed in the CPU.
You control the technology objects with the Motion Control instructions in your user program.
The TIA Portal provides additional functions for commissioning, optimization (Page 199) and
diagnostics (Page 214).
The following figure shows schematically the user interfaces and the integration of Motion
Control into the CPU S7-1500. The concepts are then briefly explained:

Introduction
TIA Portal
The TIA Portal supports you in the planning and commissioning of Motion Control
functionality:
● Integrating and configuring hardware
● Creating and configuring technology objects
● Creating the user program
● Downloading to CPU
● Commissioning of axes
● Optimization of drives
● Diagnostics
You use the TIA Portal to configure the hardware, the technology objects as well as your
user program. You download the program you created to the CPU. You test your user
program and diagnose the hardware with the online and diagnostic functions of the
TIA Portal.
Technology objects
Technology objects represent real objects (e.g., a drive) in the controller. You can call the
functions of the technology objects by means of Motion Control instructions in your user
program. The technology objects provide open- and closed-loop control of the movement of
the real objects, and report status information (e.g. the current position).
The configuration of the technology objects represents the properties of the real object. The
configuration data are stored in a technology data block.
The following technology objects are available for Motion Control:
● Speed axis technology object
The speed axis technology object ("TO_SpeedAxis") permits the specification of the
speed for a drive. You program the movement of the axis with Motion Control
instructions.
● Positioning axis technology object
The positioning axis technology object ("TO_PositioningAxis") permits the position-
controlled positioning of a drive. You assign positioning jobs to the axis with Motion
Control instructions in your user program.

Introduction
● Synchronous axis technology object

The synchronous axis technology object ("TO_SynchronousAxis") includes all functions of
the positioning axis technology object. You can also interconnect the axis with a master
value so that the axis follows the position change of a leading axis in synchronous
operation.
● External encoder technology object
The external encoder technology object ("TO_ExternalEncoder") detects a position, and
makes it available to the controller. The detected position can be evaluated in the user
program.
Technology data block
The properties of real objects are configured by means of the technology objects and saved
in a technology data block. The technology data block contains all configuration data,
setpoint and actual values, and status information of the technology object. The TIA Portal
automatically creates the technology data block when the technology object is created. You
access the data of the technology data block with your user program.
Motion Control instructions
With the Motion Control instructions you perform the desired functionality in the technology
objects. The Motion Control instructions are available in the TIA Portal under "Instructions >
Technology > Motion Control > S7-1500 Motion Control".
The Motion Control instructions conform to PLCopen (version 2.0).
User program
The Motion Control instructions and the technology data block represent the programming
interfaces for the technology objects. Use the Motion Control instructions to start Motion
Control jobs at technology objects in your user program. You track the status of running jobs
with the output parameters of the Motion Control instructions. You access status information
of the technology object with the technology data block and change specific configuration
parameters during runtime.

Introduction
Drives and encoders

Drives permit the movement of the axis. They are integrated into the hardware configuration.
When you perform a Motion Control job in your user program, the technology object takes
over the control of the drive and the reading in of values from position encoders.
Drives and encoders with PROFIdrive capability are connected by means of PROFIdrive
frames. The following connections are possible:
● PROFINET IO
● PROFIBUS DP
● Technology module (TM)
Drives with analog setpoint interfaces are connected using an analog output (AQ) and an
optional enable signal. Analog inputs and outputs are made available by means of
corresponding IO modules.
A drive is also called an actuator, and an encoder is also called a sensor.
The figure below shows an example configuration in which all components are connected to
the CPU by means of PROFINET IO:

Basics 3
3.1 Functions
You can perform the Motion Control function by means of Motion Control instructions in your
user program or the TIA Portal (under Commissioning).
The following table shows the functions that are supported by technology objects:
Function Speed axis Positioning axis Synchronous axis External encoder

Motion Control instructions (user program)
"MC_Power (Page 234)" X X X X
Enable, disable technology objects
"MC_Home (Page 239)" - X X X
Homing technology objects, setting
home position
"MC_MoveJog (Page 244)" X X X -
Moving axes in jog mode
"MC_MoveVelocity (Page 249)" X X X -
Moving axes with the specified speed
"MC_MoveRelative (Page 255)" - X X -
Position axis relatively
"MC_MoveAbsolute (Page 260)" - X X -
Position axis absolutely
"MC_MoveSuperimposed - X X -
(Page 265)"
Superimposed positioning of axes
"MC_GearIn (Page 270)" - - X -
Start gearing
"MC_Halt (Page 275)" X X X -
Stop axis
"MC_Reset (Page 279)" X X X X
Acknowledging alarms, restarting
technology objects
TIA Portal
"Axis control panel (Page 202)" X X X -
Moving and homing axes using the
TIA Portal
"Optimization (Page 207)" - X X -
Optimization of position control
("Kv" factor)

Basics
3.2 Scale
3.2 Scale
For information on the number of technology objects that may be used, refer to the technical
specifications of the utilized CPU.
A synchronous axis requires twice as many resources as a speed-controlled axis or
positioning axis. You can configure two fewer speed or positioning axes for every
synchronous axis you use.
3.3 Speed-controlled axis technology object

The speed axis technology object calculates speed setpoints, taking account of the specified
dynamics, and outputs them to the drive. All movements of the speed axis occur under
speed control. The system takes account of an existing load gear.
A drive is assigned to each speed axis by means of a PROFIdrive frame, or by means of an
analog setpoint interface.
The speed is specified in revolutions per unit of time.
The following figure shows the basic principle of operation of the speed axis technology
object:

Basics
3.4 Positioning axis technology object
3.4 Positioning axis technology object

The positioning axis technology object calculates position setpoints, taking account of the
specified dynamics, and outputs corresponding speed control setpoints to the drive. All
movements of the positioning axis occur under position control. For absolute positioning, the
physical position must be known to the positioning axis technology object.
Each positioning axis is assigned a drive by means of a PROFIdrive frame or by means of
an analog setpoint interface, and an encoder by means of a PROFIdrive frame.
The relationship between the encoder values and a defined position is created by assigning
parameters to the mechanical properties and the encoder settings, as well as to a homing
process. The technology object can also perform movements without a position relationship,
and relative position movements, even without being in a homed status.
Depending on the execution of the mechanics, a positioning axis is implemented as linear
axis or rotary axis (Page 26).
The figure below shows the basic principle of operation of the positioning axis technology
object:

Basics
3.5 Synchronous axis technology object

The synchronous axis technology object follows the position change of a leading axis in
relative synchronous operation. A relative gearing exists, for example, when two
mechanically coupled rollers are driven by the same motor:
Leading axis (driven axis)
Following axis
Relative position relationship
The change of the leading axis position setpoint is multiplied by a specified gear ratio and
passed on to the following axis as setpoint. The synchronous axis technology object outputs
this setpoint as speed setpoint to the drive limited to the maximum speed of the drive
(<TO>.Actor.DriveParameter.MaxSpeed).
The synchronous axis technology object includes all functions of the positioning axis
technology object. All movements of the synchronous axis occur under position control.
If the synchronous axis is operated without synchronous operation, the dynamic limits
configured at the technology object apply.
If the synchronous axis is operated as following axis in synchronous operation, the following
dynamic limits apply depending on the status of the synchronous operation.
● Synchronization
During synchronization, dynamic limits configured at the technology object apply to the
lead axis and the following axis respectively.
● Travel synchronous ("MC_GearIn.InGear" = TRUE)
If the synchronous axis is operated as following axis, the dynamic limits of the leading
axis are multiplied by the gear ratio apply. The configured dynamic limits of the following
axis are ignored. The dynamic of the following axis is limited to the maximum speed of
the drive.
The following hardware components are assigned to each synchronous axis:
● A drive by means of a PROFIdrive frame or by means of an analog setpoint interface
● An encoder by means of a PROFIdrive frame
Depending on the execution of the mechanics, a synchronous axis is implemented as linear
axis or rotary axis (Page 26).

Basics
The figure below shows the basic principle of operation of the synchronous axis technology
object:

Basics
3.6 External encoder technology object

The external encoder technology object detects a position, and makes it available to the
controller.
The relationship between the encoder values and a defined position is created by assigning
parameters to the mechanical properties and the encoder settings, as well as to a homing
process.
The following figure shows the basic principle of operation of the external encoder
technology object:
Specification of the position occurs according to the selected system of units:

● Linear system of units
The position is specified as a linear measure, e.g. millimeters (mm).
● Rotary system of units
The position is specified as an angular measure, e.g. degrees (°).
Note
The positioning axis/synchronous axis technology objects and external encoder are
independent of each other, and cannot be coupled to each other. The actual position of an
external encoder cannot be used for position control of a positioning axis or synchronous
axis.

Basics
3.7 Axis types
3.7 Axis types

Axes can be configured with different axis types:
● Positioning and synchronous axes can be configured as rotary or linear axis.
● Speed axes are always rotary axes.
Depending on the execution of the mechanics, an axis is implemented as a linear axis or
rotary axis:
● Linear axis
For linear axes, the position of the axis is specified as a linear measure,
e.g. millimeters (mm).
● Rotary axis
For rotary axes, the position of the axis is specified as an angular measure,
e.g. degrees (°).
3.8 Modulo setting

The positioning axis, synchronous axis and external encoder technology objects can be
enabled with the "Modulo" setting.
If an axis is moved in only one direction, the position value continually increases. To limit the
position value to a recurring reference system, you can enable the "Modulo" setting.
When "modulo" is enabled, the position value of the technology object is represented by
means of a recurring modulo range. The modulo range is defined by the start value and the
length.
For example, to limit the position value of a rotary axis to a full rotation, the modulo range
can be defined with start value = 0° and length = 360°. With an encoder resolution of
0.1°/encoder step, the position value is represented in the modulo range 0° to 359.9°.

Basics
3.9 Units of measure
3.9 Units of measure

The table below shows the supported units of measure for position and velocity:
Position Velocity
nm, μm, mm, m, km mm/s, mm/min, mm/h, m/s, m/min, m/h, km/min, km/h
in, ft, mi in/s, in/min, ft/s, ft/min, mi/h
°, rad °/s, °/min, rad/s, rad/min
The acceleration is configured accordingly as unit of measure of the position/s².

The jerk is configured accordingly as unit of measure of the position/s³.
The speed is configured as revolutions per unit of time: 1/s, 1/min, 1/h
Note
When setting or changing the units of measurement, note the effect on the depiction and the
user program:
• Depiction in the technology data block
• Supply to the parameters in the user program
• Input and display of the position and speed in the TIA Portal
• Setpoint settings by leading axes in synchronous operation
All information and displays are output in the selected unit of measure.

Basics
3.10 Drive and encoder connection
3.10.1 Brief description

A speed axis is assigned a drive.
A positioning axis/synchronous axis is assigned a drive and an encoder.
An external encoder is assigned an encoder.
The setpoint value at the drive is specified either with PROFIdrive message frames, or with
an analog output.
The following connection options are available for an encoder:
● Encoder to drive
● Encoder on technology module
● PROFIdrive encoder directly to PROFIBUS DP / PROFINET IO
The encoder value is transmitted exclusively via PROFIdrive message frames.
PROFIdrive
PROFIdrive is the standardized standard profile for drive technology in the connection of
drives and encoders via PROFIBUS DP and PROFINET IO.
Drives that support the PROFIdrive profile are connected according to the PROFIdrive
standard.
Communication between controller and drive/encoder is by means of various PROFIdrive
message frames. Each of the message frames has a standardized structure. Depending on
the application, you can select the applicable message frame. Control words and status
words as well as setpoints and actual values are transmitted in the PROFIdrive message
frames.
The PROFIdrive profile likewise supports the "Dynamic Servo Control" (DSC) control
concept. DSC uses rapid position control in the drive. This can be used to solve highly
dynamic positioning jobs.

Basics
3.10.2 Frames
The transmission of the encoder value occurs either in a frame together with the setpoint
(frame 3 or frame 5), or in a separate encoder frame (frame 81 or frame 83).
The following figure represents the relationship between the technology objects and the
drives / encoders:
Explanation of the figure:

● The setpoint of a speed axis is transmitted to a drive via PROFIdrive frame 1, 2, 3 or 5.
● The encoder value of an external encoder is transmitted via PROFIdrive frame 81 or 83.
● The setpoint of a positioning axis/synchronous axis is transmitted to a drive via
PROFIdrive frame 1, 2, 3 or 5
● Encoder value of the positioning axis/synchronous axis
The encoder value can be transmitted in the following PROFIdrive frames:
– Transmission in the same PROFIdrive frame, in which the setpoint is also transmitted.
For example, with PROFIdrive frame 3 or 5
– Transmission in PROFIdrive frame 81 or 83.

Basics
Frame types
The following table shows the supported PROFIdrive frame types for the assignment of
drives and encoders:
Frame Brief description

Standard frames
1 • 16 bit speed setpoint (NSET)
• 16 bit actual speed value (NACT),
• 32 bit actual speed (NACT)
• Signs of life
• Encoder actual value
• Signs of life
• Dynamic Servo Control (DSC)
• Signs of life
Standard frames encoder
81 • Encoder actual value
• Signs of life
83 • 32 bit actual speed (NACT)
• Signs of life
When connecting by means of a PROFIdrive frame, the drives and encoders are handled
and switched on in accordance with the PROFIdrive profile.

Basics
3.10.3 Setting reference values

The reference values for the drive connection and encoder connection must be set
identically in the controller, and in the drive or encoder.
The setpoint speed setpoint NSET and the actual speed value NACT are transmitted in the
PROFIdrive frame as a percentage value relative to the reference speed. The reference
value for the speed must be set identically in the controller and in the drive.
The resolution of the actual value in the PROFIdrive frame must likewise be set identically in
the controller and in the drive or encoder.
Frame settings
The controller settings are made in the TIA Portal under "Technology object > Configuration
> Hardware interface > Data transmission".
The settings for drive and encoder are set in the configuration for the respective hardware.
The following table contrasts the controller settings and corresponding PROFIdrive
parameters (<TO> stands for the applicable technology object):
Setting in the TIA Portal Controller PROFIdrive

tag in the technology data block parameter
Frame <TO>.Actor.Interface.Telegram P922
Reference speed in [rpm] <TO>.Actor.DriveParameter.ReferenceSpeed (SINAMICS
drives: P2000)
Maximum speed of the motor in [rpm] <TO>.Actor.DriveParameter.MaxSpeed (SINAMICS
drives: P1082)
Encoder message frame <TO>.Sensor[n].Interface.Telegram P922
Encoder system <TO>.Sensor[n].System P979[1] Bit0
(linear or rotary encoder)
Encoder type <TO>.Sensor[n].Type P979[5]
0: incremental
1: absolute
2: cyclic absolute
Resolution (linear encoder) <TO>.Sensor[n].Parameter.Resolution P979[2]
The grid spacing is specified on the nameplate
of the sensor as a separation distance of the
marks on the linear measuring system.
Increments per revolution <TO>.Sensor[n].Parameter.StepsPerRevolution P979[2]
(rotary encoder)
Number of bits for fine resolution XIST1 (cyclic <TO>.Sensor[n].Parameter.FineResolutionXist1 P979[3]
actual encoder value, linear or rotary encoder)
Number of bits for fine resolution XIST2 (abso- <TO>.Sensor[n].Parameter.FineResolutionXist2 P979[4]
lute encoder value, linear or rotary encoder)
Differentiable encoder revolutions <TO>.Sensor[n].Parameter.DeterminableRevolutions P979[5]
(rotary absolute value encoder)

Basics
3.10.4 Tags
The following technology object tags are relevant for the connection of drives and encoders:
Drive frame
<TO>.Actor.Interface.Telegram Frame number
<TO>.Actor.DriveParameter.Reference Reference velocity / reference speed for the velocity /
Speed speed (NSET), which is transmitted as a percentage
value
<TO>.Actor.DriveParameter.MaxSpeed Maximum value for the setpoint speed of the drive
(NSET)
(PROFIdrive: MaxSpeed ≤ 2 × ReferenceSpeed
Analog setpoint: MaxSpeed ≤ 1.17 × ReferenceSpeed)
Encoder frame
<TO>.Sensor[n].Interface.Telegram Frame number
<TO>.Sensor[n].System Encoder system linear or rotary
<TO>.Sensor[n].Type Encoder type, incremental, absolute or cyclically abso-
lute
<TO>.Sensor[n].Parameter.StepsPer Increments per revolution for rotary encoder
Revolution
<TO>.Sensor[n].Parameter.Determinable Number of differentiable encoder revolutions for a multi-
Revolutions turn absolute value encoder
<TO>.Sensor[n].Parameter.Resolution Resolution for linear encoder
The grid spacing corresponds to the interval between
two marks.
Fine resolution
<TO>.Sensor[n].Parameter.FineResolution Number of bits for fine resolution XIST1 (cyclic actual
Xist1 encoder value)
<TO>.Sensor[n].Parameter.FineResolution Number of bits for fine resolution XIST2 (absolute value
Xist2 of the encoder)

Basics
3.11 Safety functions in the drive

The safety functions are internal drive functions and are described in detail in the relevant
drive documentation.
The following section describes the reactions to the supported safety functions at the
controller end .
The safety features are only supported for the drive connection via PROFIdrive.
The following safety features are supported by S7-1500 Motion Control:
● Safe Torque Off (STO)
● Safe Stop 1 (SS1)
● Safe Stop 2 (SS2)
The active safety functions can also be evaluated via Safety Info Channel (SIC). Since the
SIC is not a component of S7-1500 Motion Control, you must evaluate it separately in the
user program.
3.11.2 Safe Torque Off (STO)

The Safe Torque Off (STO) safety function is the most common and basic internal safety
function in the drive. STO ensures that no torque generating energy acts on a drive. This
prevents an unintended startup of the controller. The pulses of the drive are eliminated. The
drive is reliably torque-free. This state is monitored internally in the drive.
You can use STO when the drive comes to a standstill in a sufficiently short time due to the
load torque or friction. Other areas of use are where "coasting" of the drive has no relevance
for safety.
Behavior with S7-1500 Motion Control

When STO is triggered in the drive, technology alarm 421 is output, and the technology
object is disabled (alarm reaction: Remove enable).
When the STO signal is no longer present in the drive, you can enable the technology object
again after acknowledgment of the alarm.

Basics
3.11.3 Safe Stop 1 (SS1)

The Safe Stop 1 (SS1) safety function brings a drive to standstill quickly and safely via a
drive-internal rapid stop ramp. Safe Torque Off (STO) is activated after standstill. STO
ensures that no torque generating energy acts on a drive. This prevents an unintended
startup of the controller.
You can use the SS1 safety function when a fast stop of the drive with a subsequent
transition to STO is required. SS1 is used, for example, to quickly stop high inertia or brake
drives quickly and safely at high speeds

When SS1 is triggered, the drive decelerates at a drive-internal rapid stop ramp and
automatically triggers the Safe Torque Off (STO) safety function.
When SS1 is triggered in the drive, the technology alarm 550 (alarm reaction: Follow-up
setpoint) is output and the actual values supplied by the drive are automatically tracked as
setpoints. The actual values are not monitored at the controller end. When standstill is
achieved, technology alarm 421 is output, and the technology object is disabled (alarm
reaction: Remove enable).
When the SS1 signal is no longer present in the drive, you can enable the technology object
again after the acknowledgment of the alarm.
3.11.4 Safe Stop 2 (SS2)

The Safe Stop 2 (SS2) safety function brings a drive to standstill quickly and safely via a
drive-internal rapid stop ramp. When standstill is achieved, the standstill position is
monitored at the drive end. The drive can deliver full torque to maintain the standstill.
SS2, for example, is used for machine tools.

When SS2 is triggered, the drive decelerates at a drive-internal rapid stop ramp. The drive
control monitors the standstill.
When SS2 is triggered in the drive, the technology alarm 550 (alarm reaction: Follow-up
setpoint) is output and the actual values supplied by the drive are automatically tracked as
setpoints. The actual values are not monitored at the controller end.
When the SS2 signal is no longer present in the drive, the drive goes automatically into "read
for operation" mode. The operational readiness of the drive is indicated in the technology
object tags <TO>.StatusDrive.InOperation with TRUE. The technology object is
automatically enabled again after acknowledging the alarm.

Basics
3.12 Actual values
3.12 Actual values

For position-controlled motion and positioning, the controller must know the actual position
value.
The actual position value is provided by a PROFIdrive frame. The actual value is updated
after a one-off transition of the operating mode from STOP to RUN.
The actual values are represented incrementally or absolutely in the PROFIdrive frame, and
standardized in the controller to the technological unit. Homing is used to convert the actual
value to the physical position of the axis, or of the external encoder.
The controller supports the following types of actual values:
● Incremental actual value
● Absolute actual value with the setting absolute (measuring range > traversing range of
the axis)
● Absolute actual value with the setting absolute (measuring range < traversing range of
the axis)
3.12.2 Incremental actual value

The actual value in the PROFIdrive frame is based on an incremental value.
After POWER ON, position zero is displayed. The actual value is updated after a one-time
transition of the operating mode from STOP to RUN in the STOP and RUN operating modes.
The relationship between the technology object and the mechanical position must be
recreated by means of homing (Page 39).
3.12.3 Absolute actual value

The actual value in the PROFIdrive frame is based on an absolute value.
After POWER ON, position zero is displayed. The actual value is updated after a one-off
transition of the operating mode from STOP to RUN. The supplied absolute value is
assigned to the associated mechanical axis position by means of absolute value adjustment
(Page 56). The absolute value adjustment must be performed once. The absolute value
offset is retentively saved beyond the switching on/off of the controller.
Differentiation of absolute values:
● The measuring range of the encoder is larger than the traversing range of the axis:
Absolute value with absolute setting
● The measuring range of the encoder is smaller than the traversing range of the axis:
Absolute value with cyclically absolute setting

Basics
3.12 Actual values
Absolute actual value with the setting absolute (measuring range > traversing range)
The axis position results directly from the actual encoder value. The traversing range must
be within an encoder measuring range. This means that the zero point of the encoder must
not be located in the traversing range.
When the controller is switched on, the axis position is determined from the absolute
encoder value.
Absolute actual value with the setting absolute (measuring range < traversing range)
The encoder supplies an absolute value within its measuring range. The controller includes
the traversed measuring ranges and thus determines the correct axis position beyond the
measuring range.
When the controller is switched off, the traversed measuring ranges are saved in the
retentive memory area of the controller.
At the next power-on, the stored overflows are taken into account in the calculation of the
actual position value.
NOTICE
Movements of the axis while the controller is switched off can skew the actual value
If the axis or the encoder is moved by more than half of the encoder measuring range while
the controller is switched off, then the actual value in the controller is no longer in accord
with the mechanical axis position.
3.12.4 Tags
The tags named in the Homing (Page 58) section are relevant for adapting actual values.

Basics
3.13 Mechanics
3.13 Mechanics

For the display and processing of the technology object's position, the decisive factor is
whether the position is represented as a unit of length (linear axis) or as a rotary unit (rotary
axis).
Examples of units of length: mm, m, km
Examples of rotary units: °, rad
For the determination of the physical position from an actual encoder value, the system must
know the various properties and configurations of the mechanics.
Positioning axis/synchronous axis

The following configuration options for mechanics are supported:
● Load gear
● Leadscrew pitch (linear axes only)
● Type of encoder mounting:
– On the motor side (before the load gear)
– On the load side (after the load gear and as applicable the leadscrew)
– External (e.g. odometer)
● Inversion of the setpoint
External encoder
● Measuring gearbox (for rotary encoders)
● Leadscrew (only with linear system of units and rotatory encoders)
Speed axis
● Load gear

Basics
3.13 Mechanics
3.13.2 Tags
The following technology object tags are relevant for the setting of the mechanics:
Type of motion
<TO>.Properties.MotionType Indication of linear or rotary motion
0: Linear motion
1: Rotary motion
Load gear
<TO>.LoadGear.Numerator Load gear counter
<TO>.LoadGear.Denominator Load gear denominator
Leadscrew pitch
<TO>.Mechanics.LeadScrew Leadscrew pitch
Type of encoder mounting
<TO>.Sensor[n].MountingMode Type of encoder mounting
<TO>.Sensor[n].Parameter.Distance Load distance per encoder revolution with an externally
PerRevolution mounted encoder
Inversion
<TO>.Actor.InverseDirection Setpoint inversion
<TO>.Sensor[n].InverseDirection Actual value inversion
Modulo
<TO>.Modulo.Enable Enable modulo
<TO>.Modulo.Length Modulo length
<TO>.Modulo.StartValue Modulo start value

Basics
3.14 Homing
3.14 Homing

With homing, you create the relationship between the position in the technology object and
the mechanical position. The position value in the technology object is assigned to a homing
mark at the same time. This homing mark represents a known mechanical position.
With incremental actual values this process is called homing; with absolute actual values it is
called absolute value adjustment.
Homing is a requirement for the indication of the correct position in the technology object,
and for absolute positioning.
Homing is enabled with the Motion Control instruction "MC_Home", and is enabled for a
single homing process each time.
Homing status
The technology object tag <TO>.StatusWord.X5 (HomingDone) indicates whether the
technology object has been homed to an axis or external encoder.
Type of homing
Homing can occur by means of an independent movement for homing (active homing), by
means of a homing mark during an application-initiated movement (passive homing), or by
means of direct position assignment.
A distinction is made between the following types of homing:
● Active homing
Active homing initiates a homing movement and performs the necessary approach to the
homing mark. When the homing mark is detected, the actual position is set to the
configured value. It is possible to specify an offset from the home position.
When active homing starts, current traversing movements are aborted. The offset is
automatically traversed after the approach to home position.
● Passive homing
The homing job does not perform its own homing motion. When the homing mark is
detected during an application-initiated motion, the actual position is set to the configured
value.
Passive homing is also called homing on the fly.
● Direct homing
The homing job directly sets the actual position to the configured value, or offsets it by
this amount.
● Absolute value adjustment
Absolute value adjustment adjusts the position of the technology object to the existing
absolute actual value.

Basics
3.14 Homing
Homing mode
Depending on the type of homing mark and of the homing mark search, a distinction is made
among the following homing modes (Page 41):
● Homing with zero mark via PROFIdrive frame and proximity switch
● Homing with zero mark via PROFIdrive frame
● Homing with digital input
3.14.2 Terms
Homing mark
A homing mark is an input signal, on whose occurrence a known mechanical position can be
assigned to the actual values.
A homing mark can be:
● A zero mark
The zero mark of an incremental encoder or an external zero mark is used as a homing
mark.
The zero mark is detected at the drive module or encoder module, and transmitted in the
PROFIdrive frame. Perform the setting and evaluation as an encoder zero mark or
external zero mark at the drive module and sensor module.
● An edge at the digital input
The falling or rising edge at a digital input is used as a homing mark.
Proximity switch
If there are several zero marks in the traversing range, the proximity switch permits the
selection of a specific zero mark before or after the proximity switch.
Homing mark position

This is the position assigned to the homing mark.
The homing mark position corresponds to the home position minus the home position offset.
Home position
At the end of the active homing motion, the axis arrives at the home position.

Basics
3.14 Homing
Home position offset

The difference between the homing mark position and the home position is the home
position offset.
An offset between homing mark position and home position only has an effect during active
homing. The offset is traversed after the synchronization of the axis via the Motion Control
instruction "MC_Home". For axes with the modulo setting, the home position offset is always
traversed using the direction setting for the shortest path.
Direction reversal at the hardware limit switch (reversing cam)

Hardware limit switches can be used as reversing cams in active homing. If the homing mark
is not detected or was approached from the wrong side, then the motion continues after the
reversing cam in the opposite direction.
3.14.3 Homing mode

Various homing modes are available for the positioning axis/synchronous axis and external
encoder technology objects with incremental encoders. The homing mode is set in the
configuration.
Homing with zero mark via PROFIdrive frame and proximity switch
The system checks for when the proximity switch is reached. After the proximity switch is
reached and is left again in the assigned homing direction, zero mark detection is enabled
via the PROFIdrive message frame.
When the zero mark is reached in the pre-selected direction, then the actual position of the
technology object is set to the homing mark position.
Homing with zero mark via PROFIdrive frame

The system enables zero mark detection, as soon as the actual value of the technology
object moves in the assigned homing direction.
When the zero mark is reached in the specified homing direction, the actual position of the
technology object is set to the homing mark position.

Basics
3.14 Homing
Homing with digital input

The system checks the state of the digital input, as soon as the actual value of the axis or
encoder moves in the assigned homing direction.
When the homing mark is reached (setting of the digital input) in the specified homing
direction, the actual position of the technology object is set to the homing mark position.
Note
The digital inputs must be placed into the process image partition "PIP OB Servo".
The filter time of the digital inputs must be set smaller than the duration of the input signal at
the reference point switch.
See also
Homing SINAMICS drives with external zero marks (Page 396)

Basics
3.14 Homing
3.14.4 Active homing with zero mark and proximity switch

The following examples show homing motions in the positive and negative directions.
Example of homing in the positive direction

The approach to the homing mark and the home position occurs in the positive direction.
The following figure shows the homing motion with the following settings:
● Active homing with zero mark and proximity switch
● Approach in the positive direction
● Homing in the positive direction
● Positive home position offset

Basics
3.14 Homing
Example of homing in the negative direction

The move to the homing mark occurs in the negative direction by means of a direction
reversal during the homing process. The move to the home position causes another direction
reversal and occurs in the positive direction.
The following figure shows the homing motion with the following settings:
● Active homing with zero mark and proximity switch
● Homing in the negative direction

Basics
3.14 Homing
Motion sequence
The motion occurs in the following sequence:
1. Start of active homing via the Motion Control instruction "MC_Home"
2. Approach to the proximity switch
3. Detection of the proximity switch in the homing direction, while moving at homing velocity
4. Departure from the proximity switch, and approach to the homing mark
With the departure from the proximity switch, the detection of the homing mark is
enabled.
5. Detection of the homing mark
When the homing mark is detected, the position of the technology object is set depending
on the configured mode:
– Parameter "Mode" to "MC_Home" = 3
Position = value in parameter "Position" minus
<TO>.Sensor[n].ActiveHoming.HomePositionOffset
Position = value in the tag <TO>.Homing.HomePosition minus
Note
Parameter "MC_Home.Mode"
The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion
Control has been standardized within the framework of technology version V2.0. This
results in a new assignment of the parameter values for the "MC_Home.Mode"
parameter. A comparison of the "MC_Home.Mode" parameter for technology versions
V1.0 and V2.0 is available in the section Version overview (Page 86).
6. Approach to the home position

The axis moves to the position that is specified in the "Position" parameter.
The axis moves to the position that is specified in the <TO>.Homing.HomePosition
tag.
Note
If the velocity on the span from the detection of the proximity switch to the zero mark
cannot be reduced to the homing velocity, then homing occurs at the velocity that exists
when the zero mark is traversed.
See also

Basics
3.14 Homing
3.14.5 Active homing with zero mark

The following figure shows an example of the homing motion with the following settings:
● Active homing with zero mark

Basics
3.14 Homing
Motion sequence
2. Move to the homing mark in the homing direction with the homing velocity
When the homing mark is detected, the position of the axis or encoder is set depending
Note

tag.
See also

Basics
3.14 Homing
3.14.6 Active homing with digital input

● Active homing with digital input
● Homing mark on the positive side of the digital input

Basics
3.14 Homing
Motion sequence
2. Detection of the rising edge at the digital input, while moving at homing velocity
3. Approach to the homing mark
In the example, the falling edge of the switch at the digital input represents the homing
mark.
Note

tag.
Note
If the velocity on the span from the detection of the rising edge to the falling edge cannot
be reduced to the homing velocity, then homing occurs at the velocity that exists when
the homing mark is traversed.

Basics
3.14 Homing
3.14.7 Passive homing with zero mark and proximity switch

● Passive homing with zero mark and proximity switch

Basics
3.14 Homing
Motion sequence
1. Enablement of passive homing via the Motion Control instruction "MC_Home".
2. Motion due to a Motion Control job from the application
The detection of the proximity switch and of the homing mark is enabled when the actual
position value of the axis or encoder moves in the assigned homing direction.
3. Detection of the proximity switch
4. Departure from the proximity switch
The departure from the proximity switch enables the detection of the homing mark.
– Parameter "Mode" to "MC_Home" = 2, 8
Position = value in parameter "Position"
Position = value in tag <TO>.Homing.HomePosition
Note
Note
If the direction of motion changes after departure from the proximity switch and before
detection of the homing mark, then the proximity switch must be detected again. The
Motion Control instruction "MC_Home" remains enabled.

Basics
3.14 Homing
3.14.8 Passive homing with zero mark

● Passive homing with zero mark

Basics
3.14 Homing
Motion sequence
The detection of the homing mark is enabled when the actual position value of the axis or
encoder moves in the assigned homing direction.
Note

Basics
3.14 Homing
3.14.9 Passive homing with digital input

● Passive homing with digital input
● Homing mark on the positive side of the digital input

Basics
3.14 Homing
Motion sequence
The detection of the homing mark at the digital input is enabled when the actual position
value of the axis or encoder moves in the assigned homing direction.
In the example, the falling edge of the switch at the digital input represents the homing
mark.
Note
3.14.10 Direction reversal at the hardware limit switch (reversing cam)

During active homing, the hardware limit switch can optionally be used as a reversing cam. If
the homing mark is not detected or the motion was not in the homing direction, then the
motion continues after the reversing cam in the opposite direction with the approach velocity.
When the hardware limit switch is reached, the dynamic defaults become effective.
Deceleration with the emergency stop deceleration does not occur.
NOTICE
Avoid moving to a mechanical endstop
Ensure by one of the following measures, that in a direction reversal the machine does not
move to a mechanical endstop.
• Keep the approach velocity low.
• Increase the configured acceleration / deceleration.
• Increase the offset between the hardware limit switch and the mechanical endstop.

Basics
3.14 Homing
3.14.11 Direct homing

Depending on the configured mode, the position of the positioning axis/synchronous axis or
external encoder technology objects can be absolutely or relatively set with "MC_Home".
Set position absolutely

Proceed as follows to set the position absolutely:
1. In the Motion Control instruction "MC_Home", enter the absolute position in the "Position"
parameter.
2. Call the Motion Control instruction "MC_Home" with parameter "Mode" = 0.
The position is set to the value specified in the "Position" parameter.
Set position relatively

Proceed as follows to set the position relatively:
1. In the Motion Control instruction "MC_Home", enter the relative position in the "Position"
parameter.
2. Call the Motion Control instruction "MC_Home" with parameter "Mode" = 1.
The position is set to the current position plus the value specified in the "Position" parameter.
3.14.12 Absolute value adjustment

In absolute value adjustment, Motion Control determines an absolute value offset, that is
retentively stored on the CPU.
Depending on the configured mode, the position of the axis or the encoder is absolutely or
relatively set in the "MC_Home" Motion Control instruction.
● Parameter "Mode" = 7 (absolute specification of position)
● Parameter "Mode" = 6 (relative specification of position)
Position = current position + value in parameter "Position"

Basics
3.14 Homing
3.14.13 Resetting the "Homed" status
Incremental encoder
In the following cases, the "Homed" status is reset, and the technology object must be
rehomed.
● Errors in the sensor system / encoder failure
● Initiation of active homing with the Motion Control instruction "MC_Home" with
"Mode" = 3, 5 (after successful completion of the homing process, the status "Homed" is
set again.)
Note
● Initiation of passive homing with the Motion Control instruction "MC_Home" with
"Mode" = 2, 8, 10 (after successful completion of the homing process, the status "Homed"
is set again.)
● Replacement of the CPU
● Replacement of the SIMATIC Memory Card
● POWER OFF
● Memory reset
● Modification of the encoder configuration
● Restart of the technology object
● Restoration of the CPU factory settings
● Transfer of a different project into the controller
Absolute value encoder

In the following cases, the "Homed" status is reset, and the technology object must be
rehomed.
● Errors in the sensor system / encoder failure
● Replacement of the CPU
● Modification of the encoder configuration
● Restoration of the CPU factory settings
● Transfer of a different project into the controller
Resetting the memory of the CPU or upgrading a project does not require another absolute
value adjustment.

Basics
3.14 Homing
3.14.14 Tags
The following technology object tags are relevant for homing:
Status indicators
<TO>StatusWord.X11 (HomingCommand) Homing command active
<TO>StatusWord.X5 (HomingDone) Technology object is homed
<TO>ErrorWord.X10 (HomingFault) Error occurred during homing
Approach to the proximity switch
<TO>.Homing.ApproachDirection Start direction or approach direction for the ap-
proach to the proximity switch
<TO>.Homing.ApproachVelocity Velocity for the approach to the proximity switch
Approach to the homing mark
<TO>.Sensor[n].ActiveHoming.Direction Homing direction
<TO>.Homing.ReferencingVelocity Velocity for the approach to the homing mark
Approach to home position
<TO>.Homing.ApproachVelocity Velocity for the approach to the home position
Positions
<TO>.Homing.AutoReversal Reversal at the hardware limit switches
<TO>.Homing.HomePosition Home position
<TO>.StatusSensor[n].AbsEncoderOffset Calculated offset after the absolute value adjust-
ment
Parameters for active homing
<TO>.Sensor[n].ActiveHoming.Mode Homing mode
<TO>.Sensor[n].ActiveHoming.SideInput Side of the digital input
<TO>.Sensor[n].ActiveHoming.Direction Homing direction or approach direction
<TO>.Sensor[n].ActiveHoming.DigitalInput Byte number of the I/O address of the digital input
Address
<TO>.Sensor[n].ActiveHoming.DigitalInputBit Bit number of the I/O address of the digital input
Number
<TO>.Sensor[n].ActiveHoming.HomePosition Offset of the homing mark from the home position
Offset
Parameters for passive homing
<TO>.Sensor[n].PassiveHoming.Mode Homing mode
<TO>.Sensor[n].PassiveHoming.SideInput Side of the digital input
<TO>.Sensor[n].PassiveHoming.Direction Homing direction or approach direction
<TO>.Sensor[n].PassiveHoming.DigitalInput Byte number of the I/O address of the digital input
Address
<TO>.Sensor[n].PassiveHoming.DigitalInputBit Bit number of the I/O address of the digital input
Number
Note
Evaluation of the bits in StatusWord, ErrorWord and WarningWord
Read the information provided in section Evaluate StatusWord, ErrorWord and WarningWord
(Page 175).

Basics
3.15 Control
3.15 Control

The position controller of the positioning axis/synchronous axis is a closed-loop P controller
with pre-control of velocity.
If the drive supports Dynamic Servo Control (DSC), then a closed-loop position controller in
the drive can optionally be used.
Dynamic Servo Control (DSC)

In drives that support Dynamic Servo Control (DSC), you can optionally use the closed-loop
position controller in the drive. The position controller in the drive is usually implemented with
a rapid speed-control cycle. This improves the control performance for digitally coupled
drives. The communication times between controller and drive are automatically taken into
account.
For DSC, the drive's encoder must be used and standard message frame 5 must be set on
the drive.
See also
Frames (Page 29)

Basics
3.15 Control
3.15.2 Control structure

The following figure shows the effective control structure without DSC:
The following figure shows the effective control structure with DSC:

Basics
3.16 Position-related monitoring
3.15.3 Tags
The following technology object tags are relevant for control:
Parameter
<TO>.PositionControl.Kv Proportional gain in the position control
<TO>.PositionControl.Kpc Velocity pre-control in the position control (in %)
<TO>.PositionControl.EnableDSC Enabling DSC

The following functions are available in the positioning axis/synchronous axis technology
object for monitoring positioning and motion:
● Positioning monitoring (Page 62)
The actual position value must reach a positioning window within a specified time, and
remain in this positioning window for a minimum dwell time.
● Following error monitoring (Page 63)
The following error is monitored based on a velocity-dependent following error limit. The
permissible maximum following error depends on the setpoint velocity.
If monitored conditions are violated, then technology alarms are output. The technology
object responds in accordance with the alarm response.

Basics
3.16.2 Positioning monitoring

Positioning monitoring monitors the behavior of the actual position at the end of the setpoint
calculation.
As soon as the setpoint velocity reaches the value zero, the actual position value must be
located within a tolerance time in the positioning window. The setpoint must not exit the
positioning window during the minimum dwell time.
If the actual position value at the end of a positioning motion is reached within the tolerance
time and remains in the positioning window for the minimum dwell time, then
<TO>.StatusWord.X6 (Done) is set in the technology data block. This completes a Motion
Control job.
The following figure shows the chronological sequence and the positioning window:
Positioning monitoring does not make any distinction between how the setpoint interpolation
was completed. The end of setpoint interpolation can for example be reached as follows:
● by the setpoint reaching the target position
● by position controlled stopping during the motion, via the Motion Control instruction
"MC_Halt"
Violation of positioning monitoring

In the following cases, technology alarm 541 is output by the positioning monitoring, and the
technology object is disabled (alarm reaction: remove enable).
● The actual value does not reach the positioning window during the tolerance time.
● The actual value exits the positioning window during the minimum dwell time.

Basics
3.16.3 Following error monitoring

The following error in the positioning axis/synchronous axis technology object is monitored
based on a velocity-dependent following error limit. The permissible following error depends
on the setpoint velocity.
A constant permissible following error can be specified for velocities less than an adjustable
velocity low limit.
Above this lower velocity limit, the permissible following error increases in proportion to the
setpoint velocity. The maximum permissible following error may be reached at the maximum
velocity.
Calculation of the following error

The following error is the difference between the position setpoint and the actual position
value. The transmission times of the setpoint to the drive, and of the actual position value to
the controller, are taken into account in the calculation of the following error, i.e., subtracted
out.
Warning limit
A warning limit can be specified for the following error. The warning limit is input as a
percentage value and operates relative to the current permissible following error. If the
warning limit of the following error is reached, then technology alarm 522 is output. This is a
warning and contains no alarm response.
Exceedance of the permissible following error

If the permissible following error is exceeded, then technology alarm 521 is output, and the
technology object is disabled (alarm response: remove enable).

Basics
3.16.4 Tags
The following technology object tags are relevant for positioning monitoring:
Status indicators
<TO>.StatusWord.X7 (Standstill) Is set to the value TRUE , when the actual velocity
value goes below the velocity threshold, and does not
exit it within the minimum dwell time.
The standstill signal is only present at the positioning
axis/synchronous axis.
<TO>.StatusWord.X6 (Done) Positioning axis/synchronous axis
Is set to the value TRUE, when the actual velocity val-
ue reaches the positioning window within the tolerance
time, and remains for the minimum dwell time in the
window.
Speed axis
Is set to TRUE, when the motion is completed and thus
the speed setpoint is equal to zero.
<TO>.ErrorWord.X12 (PositioningFault) A positioning error has occurred.
Positions and times
<TO>.PositioningMonitoring.ToleranceTime Maximum permissible time until positioning window is
reached
The time is started with the end of the setpoint interpo-
lation.
<TO>.PositioningMonitoring.MinDwellTime Minimum dwell time in the positioning window
<TO>.PositioningMonitoring.Window Positioning window
Standstill signal
<TO>.StandstillSignal.VelocityThreshold Velocity threshold for the standstill signal
<TO>.StandstillSignal.MinDwellTime Minimum dwell time below the velocity threshold
The following technology object tags are relevant for following error monitoring:
Status indicators
<TO>.StatusPositioning.FollowingError Current following error
<TO>.ErrorWord.X11 (FollowingErrorFault) Status indication, that the following error is too large
<TO>.WarningWord.X11 (FollowingError- Status indication, that the following error warning limit
Warning) has been reached
Control bits
<TO>.FollowingError.EnableMonitoring Enabling / disabling following error monitoring
Limit values
<TO>.FollowingError.MinVelocity Lower setpoint velocity for the characteristic curve of
the maximum following error
<TO>.FollowingError.MinValue Permissible following error below the
<TO>.FollowingError.MinVelocity
<TO>.FollowingError.MaxValue Maximum permissible following error at maximum axis
velocity
<TO>.FollowingError.WarningLevel Warning limit as a percentage value relative to the
maximum permissible following error (velocity-
dependent in accordance with the characteristic curve)

Basics
3.17 Traversing range limitation

Hardware and software limit switches limit the permissible traversing range and operating
range of the positioning axis/synchronous axis. Before use, they must be enabled in the
configuration or in the user program.
The following figure shows the relationship between operating range, maximum traversing
range and the limit switches:
3.17.2 Hardware limit switches

Hardware limit switches are limit position switches that limit the maximum permissible
traversing range of the axis.
Select the positions of the hardware limit switches so that there is adequate braking distance
for the axis when needed. The axis should come to a standstill before a mechanical endstop.
Approaching the hardware limit switches

In the monitoring of range limitation, no distinction is made, whether the switches are
approached or overshot.
If a hardware limit switch is approached, technology alarm 531 is output, and the technology
object is disabled (alarm response: remove enable).
Exception
If the hardware limit switches are used as reversing cams or reference cams, then the
monitoring of the hardware limit switches has no effect.

Basics
Retracting
The position of the axis when the hardware limit switch is detected is stored internally on the
CPU. The status of the approached hardware limit switch is reset only after the hardware
limit switch is left and the axis is once again in the maximum traversing range.
To be able to traverse the axis again after reaching the hardware limit switch and to reset the
status of the hardware limit switch, follow the steps below:
1. To allow movement away from the limit switch, acknowledge the technology alarm.
2. Traverse the axis away from the hardware limit switch until it leaves it.
The axis must then be within the maximum traversing range.
If you traverse the axis in the direction of the limit switch before the axis has left it, the
monitoring will be triggered again.
The following diagram shows the response of the status word when reaching the hardware
limit switch and when releasing the axis again:
Figure 3-1 Status message HW-ES
At the time ① the position of the axis when the positive hardware limit switch is detected is
stored internally on the CPU. To reset the status of the hardware limit switch, the axis must
be pulled back from this position.
At the time ② the position of the axis when the negative hardware limit switch is detected is
stored internally on the CPU. To reset the status of the hardware limit switch, the axis must
pass this position.

Basics
3.17.3 Software limit switch

The operating range of the axis is limited with software limit switches. Relative to the
traversing range, always position the software limit switches within the hardware limit
switches. Since the positions of the software limit switches can be flexibly configured, the
operating range of the axis can be individually adapted in accordance with the current
velocity profile.
Software limit switches are only effective when there is a valid actual value after homing the
technology object. The monitoring of the software limit switches is relative to the setpoint.
Modulo enabled
With modulo enabled, the modulo position is monitored.
The software limit switches are enabled or disabled using the tags in the technology data
block. If the positions of both software limit switches are outside the modulo range, then the
monitoring has no effect. It is not checked, whether the positions of the software limit
switches are within the modulo range.
Approaching the software limit switches

At the beginning of a positioning motion, it is not checked, whether the software limit
switches will be approached by approaching the specified target position.
If the software limit switches are approached, then technology alarm 533 is output, and the
axis is stopped with the maximum dynamic values (alarm response: Stop with maximum
dynamic values). The technology object remains enabled.
Overshooting the software limit switches

If a software limit switch is overshot, technology alarm 534 is output, and the technology
object is disabled (alarm response: remove enable).
Retracting
Proceed as follows to retract the axis after violation of the software limit switch:
1. Acknowledge the technology alarm.
2. Move the axis in the free travel direction, until the software limit switch is exited.
If you move opposite to the free travel direction before exiting the software limit switch,
then the monitor with be triggered again.

Basics
3.17.4 Tags
The following technology object tags are relevant for software limit switches:
Status indicators
<TO>.StatusWord.X15 (SWLimitMinActive) Negative software limit switch is enabled
<TO>.StatusWord.X16 (SWLimitMaxActive) Positive software limit switch is enabled
<TO>.ErrorWord.X8 (SWLimit) An alarm is pending, that a software limit switch was
violated
Control bits
<TO>.PositonLimits_SW.Active Enables / disables the monitoring of the software
limit switches
Position values
<TO>.PositonLimits_SW.MinPosition Position of the negative software limit switch
<TO>.PositonLimits_SW.MaxPosition Position of the positive software limit switch
The following technology object tags are relevant for hardware limit switches:
Status indicators
<TO>.StatusWord.X17 (HWLimitMinActive) Negative hardware limit switch is enabled
<TO>.StatusWord.X18 (HWLimitMaxActive) Positive hardware limit switch is enabled
<TO>.ErrorWord.X9 (HWLimit) An alarm is queued; a hardware limit switch was
violated
Control bits
<TO>.PositonLimits_HW.Active Enables / disables the monitoring of the hardware
limit switches
Parameter
<TO>.PositonLimits_HW.MinSwitchLevel Level selection for enablement of the lower hard-
ware limit switch:
FALSE: At low level, the signal is enabled
TRUE: At high level, the signal is enabled
<TO>.PositonLimits_HW.MinSwitchAddress Byte number of the I/O address of the hardware limit
switch for the lower or minimum position
<TO>.PositonLimits_HW.MinSwitchBitNumber Bit number of the I/O address of the hardware limit
switch for the lower or minimum position
<TO>.PositonLimits_HW.MaxSwitchLevel Level selection for enablement of the upper hard-
ware limit switch:
FALSE: At low level, the signal is enabled
TRUE: At high level, the signal is enabled
<TO>.PositonLimits_HW.MaxSwitchAddress Byte number of the I/O address of the hardware limit
switch for the upper or maximum position
<TO>.PositonLimits_HW.MaxSwitchBitNumber Bit number of the I/O address of the hardware limit
switch for the upper or maximum position

Basics
3.18 Motion control and limits for dynamics

Motion control of the axis occurs by means of velocity profiles (Page 70). The velocity
profiles are calculated in accordance with the specifications for dynamics. A velocity profile
defines the behavior of the axis during approach, braking and changes in velocity. During
positioning a velocity profile is calculated, that moves the axis to the target point.
Maximum values for velocity, acceleration and jerk result from the properties of the drive and
the mechanics. These maximum values can be configured in the limits for dynamics. The
limits for dynamics are in effect as limits for every motion generated by means of the
technology object.
The configurable emergency stop deceleration (Page 71) is triggered by the Motion Control
instruction MC_Power or by a technology alarm.
The jerk limit reduces the mechanical load during an acceleration ramp or deceleration ramp.
A "smoothed" velocity profile results.

Basics
3.18.2 Velocity profile

A velocity profile without jerk limit and a velocity profile with jerk limit are both supported for
Motion Control of the axis.
The dynamic values for the motion are specified in the Motion Control job. Alternatively the
dynamic default values can be used. The defaults and the limits for velocity, acceleration,
deceleration and jerk are set in the configuration.
To influence velocity, a velocity override can override the current traversing velocity.
Velocity profile without jerk limit

The following figure shows velocity, acceleration and jerk:

Basics
Velocity profile with jerk limit

The following figure shows velocity, acceleration and jerk:
A velocity profile with jerk limit is employed for a continuous acceleration and deceleration
sequence. The jerk can be specified.
3.18.3 Emergency stop deceleration

When stopping with the emergency stop ramp, the axis is braked to a standstill without a jerk
limit, using the configured emergency stop deceleration.
In the following cases the configured emergency stop deceleration is in effect:
● For an emergency stop ramp that has been enabled via the Motion Control instruction
"MC_Power" with parameter "StopMode" = 0.
● For a technology alarm with the local alarm response "Stop with emergency stop ramp".
This emergency stop deceleration can be set greater than the maximum deceleration. If the
emergency stop deceleration is set lower than this, it may occur that the axis does not stop
until after the limit switch in the case of "Stop at software limit switch" and the occurrence of
a technology alarm with the local alarm response "Stop with emergency stop ramp".

Basics
3.18.4 Tags
The following technology object tags are relevant for motion control:
Status
<TO>.StatusWord Status indicators for an active motion
<TO>.Position Setpoint position
<TO>.Velocity Setpoint velocity / setpoint speed
<TO>.ActualPosition Actual position
<TO>.ActualVelocity Actual velocity
<TO>.ActualSpeed Actual speed of the motor
(with analog setpoint = 0.0)
<TO>.Acceleration Setpoint acceleration
<TO>.ActualAcceleration Actual acceleration
Override
<TO>.Override.Velocity Velocity override
Dynamic limit values
<TO>.DynamicLimits.MaxVelocity Dynamic limit for maximum velocity
<TO>.DynamicLimits.MaxAcceleration Dynamic limit for maximum acceleration
<TO>.DynamicLimits.MaxDeceleration Dynamic limit for maximum deceleration
<TO>.DynamicLimits.MaxJerk Dynamic limit for maximum jerk
Defaults for the dynamics
<TO>.DynamicDefaults.Velocity Default velocity
<TO>.DynamicDefaults.Acceleration Default acceleration
<TO>.DynamicDefaults. Deceleration Default deceleration
<TO>.DynamicDefaults.Jerk Default jerk
<TO>.DynamicDefaults. Emergency stop deceleration
EmergencyDeceleration

Basics
3.19 Synchronous operation

The functionality of relative gearing is provided by the synchronous axis technology object.
The change of the leading axis position setpoint is multiplied by a specified gear ratio and
passed on to the following axis as change in the position setpoint.
The relative gearing couples a following axis to a leading axis as if the axes were connected
via a mechanical transmission.
Leading axis (driven axis)
Following axis
Relative position relationship
The following axis is synchronized to the leading axis by means of the Motion Control
instruction "MC_GearIn", which represents the mechanical transmission in this case. An
active synchronous operation is overridden by motion jobs on the following axis.

Basics
3.19.2 Relative gearing

The gear ratio is specified as the relationship between two integers at the Motion Control
instruction "MC_GearIn". The result is a linear transmission function. With relative gearing,
there is a relative correlation between the leading axis and the following axis. The change of
the leading axis position setpoint results from the change in the position setpoint of the
leading axis multiplied by the gear ratio.
Synchronization
Synchronization is begins by starting an "MC_GearIn" job. When a synchronous axis
synchronizes to a master value, it is displayed in the tag of the <TO>.StatusWord.X21
(Synchronizing) technology object. Active motion jobs are overridden. The dynamic values
(acceleration, delay, jerk) of the following axis for the synchronization are specified at
"MC_GearIn".
The following axis is synchronized and moves synchronously to the leading axis when the
following axis reaches the velocity and acceleration of the leading axis, taking the gear ratio
into consideration.
Duration and length of synchronization depend on the dynamic of the leading axis and the
dynamic defaults at "MC_GearIn". A position offset can result between leading axis and
following axis. This position offset is not compensated.

Basics
Synchronous motion
When a synchronous axis is synchronized to a master value, the "synchronous" status is
displayed by the parameter "MC_GearIn.InGear" = TRUE as well as in the tag of the
<TO>.StatusWord.X22 (Synchronous) technology object. The following axis follows the
dynamics of the leading axis according to the gear ratio.
The dynamic limits configured on the following axis are no longer in effect in the
"synchronous" state. The speed setpoint output to the drive is limited to the configured
maximum speed of the drive (<TO>.Actor.DriveParameter.MaxSpeed).
If the following axis cannot follow the master value, a following error occurs which is
monitored by the following error monitoring.
The response characteristic of gearing is expressed as a linear correlation between the
master value and the slave value.
g Gear ratio (transformation ratio)

φ Position offset between master value and slave value in synchronous operation
The position offset is derived from the synchronization and is constant thereafter.
The slave value is calculated according to the following formula:

Slave value = g × master value + φ
Overriding synchronous operation

An active synchronous operation is overridden by motion jobs on the following axis.
Direction
The numerator of the gear ratio is specified as positive or negative. This results in the
following response:
● Positive gear ratio:
The leading and following axes move in the same direction.
● Negative gear ratio:
The following axis rotates in the opposite direction of the leading axis.

Basics
Homing with active synchronous operation

A position offset at the following axis is not compensated with relative gearing. This means a
new offset results when homing the following axis during an active synchronous operation. A
job for active homing at a following axis overrides synchronous operation.
NOTICE
Drive damage
The position of the leading axis can change suddenly during homing of the leading axis.
This master value jump has the effect of a setpoint jump at the following axis. The setpoint
jump is traversed at the following axis taking the gear ratio into consideration. Jerky
compensation motions at the following axis and drive damage could result.
If homing of the leading axis is required during active synchronous operation, keep the
master value jump and its effects on the following axis to a minimum.
3.19.3 Master value coupling

The master value for synchronous operation is provided by a leading axis. The master
values are always the position setpoints of the leading axis (setpoint coupling). A following
axis can be coupled with different master values. Only one master value is actively evaluated
at any one time. The master value can be specified by positioning axes or synchronous
axes.
The master value is specified in the user program with the call of the Motion Control
instruction "MC_GearIn". The master value is switched when you call the "MC_GearIn" again
specifying a different leading axis.
The figure below shows an example of a synchronous axis with several master values:

Basics
The following rules apply to the master value coupling:

● Positioning axes and synchronous axes can specify master values. A leading axis can
output the master value to several following axes.
● The synchronous axis can be interconnected with different master values. All
interconnections required during operation must be set up during configuration of the
synchronous axis technology object.
● Only one master value is actively evaluated at any one time.
● Recursive interconnections are not possible. A leading axis cannot be interconnected as
following axis to its own master value.
The following example shows a recursive interconnection that is not permitted:
The following interconnections are configured in the TIA Portal:
Interconnection Axis 1 Axis 2

A Axis 1 is a possible leading Leading axis → Following axis
axis for axis 2
B Axis 2 is possible leading axis Following axis ← Leading axis
for axis 1
Use the Motion Control instruction "MC_GearIn" to enable interconnection A or

interconnection B. Interconnections A and B cannot be enabled at the same time
because it would be a recursive interconnection.
Note
The master values and slave values are coupled without conversion into the relevant
configured user unit. If the leading axis is a linear axis (millimeters) and the following axis is
a rotary axis (degrees), for example, the unit is not converted during synchronous operation.
If the leading axis moves by 10 mm, the following axis moves by 10° with a gear ratio of 1:1.
3.19.4 Tags
The following technology object tags are relevant for synchronous operation:
Status indicators
<TO>.StatusSynchronizedMotion.ActualMaster When a "MC_GearIn" job is started, the number of the technology data
block of the currently used leading axis is displayed.
"ActiveMaster" = 0 with disabled synchronous operation
<TO>.StatusWord.X21 (Synchronizing) When the synchronous axis synchronizes to a master value, the value
is set to TRUE.
<TO>.StatusWord.X22 (Synchronous) When the synchronous axis is synchronized and moves synchronously
to the leading axis, the value is set to TRUE .
<TO>.ErrorWord.X14 (SynchronousError) Error during synchronous operation
The leading axis specified at the Motion Control instruction
"MC_GearIn" was not configured as a possible leading axis.

Basics
3.20 Operational sequence
3.20.1 Organization Blocks for Motion Control
Description
When you create a technology object, organization blocks are automatically created for
processing the technology objects. The Motion Control functionality of the technology objects
creates its own execution level, and is called according to the Motion Control application
cycle.
The following blocks are created:
● MC-Servo [OB91]
Calculation of the Position Controller
● MC-Interpolator [OB92]
Evaluation of the motion control instructions, generation of setpoints and monitoring
functionality
The organization blocks are protected (know-how protection). The program code cannot be
viewed or changed.
The frequency relationship of the two organization blocks to one another is always 1:1.
MC-Servo [OB91] is always executed before MC-Interpolator [OB92].
You can set the application cycle and the priority of the organization blocks according to your
requirements for control quality and system load.

Basics
Application cycle
You can set the application cycle in which the MC-Servo [OB91] is called in the properties of
the organization block in "General > Cycle Time":
● Synchronous to the bus
MC-Servo [OB91] is called synchronously with or at a reduced ratio to a bus system. You
set the send clock in the properties of the selected bus system. In the "Distributed I/O"
drop-down list, you can select the following bus systems:
– Isochronous PROFIBUS DP
– Isochronous PROFINET IO
You cannot call the MC-Servo [OB91] synchronously with a bus system that is connected
to the CPU via a communications processor/communications module (CP/CM).
● Cyclic
The MC-Servo [OB91] is called cyclically with the specified application cycle.
The selected application cycle must be long enough to be able to process the technology
objects in one cycle. If the processing time of the technology objects is longer than the
application cycle, overflows (Page 80) will occur.
You can check the runtime of MC-Servo [OB91] and MC-Interpolator [OB92] with the
expanded instruction "RT_INFO".
Clock reduction (CPU V1.5 and higher)

You can reduce the application cycle of the MC-Servo [OB91] relative to the send clock of an
isochronous PROFINET IO system. You can set an integer multiple of the send clock as the
factor. Values up to 14 times the send clock (maximum 32 ms) are possible for the
application cycle.
If you call a isochronous interrupt OB and the MC-Servo [OB91] synchronously with the
same PROFINET IO system, set the same application cycle for both organization blocks.
Priority
You can configure the priority of the organization blocks as needed in their properties under
"General > Properties > Priority":
● MC Servo [OB91]
Priority 17 to 31 (default value 25)
● MC Interpolator [OB92]
Priority 16 to 30 (default value 24)
The priority of MC Servo [OB91] must be at least one higher than the priority of the
MC Interpolator [OB92].

Basics
3.20.2 Process image partition "OB Servo PIP"

The process image partition "OB Servo PIP" is made available in isochronous mode for
Motion Control. All drives and encoders used by Motion Control are assigned to this process
image partition.
Additionally, you should assign all I/O modules used by Motion Control to this process image
partition (e.g. hardware limit switches). The assignment results in chronologically
synchronous processing with the technology object.
The input process image partition is also updated in STOP mode.
Process image partition in the user program

As of CPU version V1.5, you can access the process image partition "TPA OB Servo" in your
user program. This makes it possible to evaluate the process image partition using the trace
and logic analyzer function.
3.20.3 Operational Sequence and Timeouts

When processing the motion control functionality, the organization blocks MC-Servo [OB91]
and MC-Interpolator [OB92] are called and processed in each application cycle. The
remaining cycle time is available for the processing of your user program.
For error-free program execution, keep to the following rules:
● In each application cycle, MC-Servo [OB91] must be started and executed completely.
● In every application cycle, the relevant MC-Interpolator [OB92] must at least be started.
The following figure shows an example of the error-free operational sequence for the
processing of organization block OB1:

Basics
Overflows
If the set application cycle is not adhered to, for example because the application cycle is too
short, overflows can occur.
The CPU will not tolerate overflow of MC-Servo [OB91]. An overflow will cause the CPU to
change to STOP mode.
The following figure shows the operational sequence if there is an overflow of MC-Servo
[OB91]:
The execution of an MC-Interpolator [OB92] may only be interrupted by an MC-Servo [OB91]

call. If more interruptions occur, the CPU switches to STOP mode.
The following figure shows the sequence when an MC-Interpolator [OB92] is interrupted over
two time slices:

Basics
The CPU tolerates a maximum of three consecutive overflows of MC-Interpolator [OB92]. If

more overflows occur, the CPU switches to STOP mode.
The following figure shows the sequence if there are four consecutive individual overflows of
MC-Interpolator [OB92]:

Basics
3.20.4 Operating modes

This section examines the behavior of Motion Control in each operating mode, and in the
transitions between operating modes. A general description of the operating modes can be
found in system manual S7-1500.
Operating modes and transitions

The CPU has three operating modes: STOP, STARTUP and RUN. The following figure
shows the operating modes and the operating mode transitions:
STOP mode
In STOP mode the user program is not processed and al process outputs are disabled. Thus
no Motion Control jobs are executed.
The technology data blocks are updated.
STARTUP mode
Before the CPU starts processing of the cyclical user program, the startup OBs are
processed one time.
In STARTUP mode, the process outputs are disabled. Motion Control jobs are rejected.
RUN mode
The user program is processed in RUN mode.
In RUN mode, the programmed Motion Control jobs are cyclically called and processed.

Basics
Operating mode transitions

The following table shows the behavior of Motion Control in the transitions between the
operating modes:
No. Operating mode transition Behavior

① POWER ON → STOP The CPU performs a restart of the technology objects. The technology objects are
reinitialized with the values from the load memory.
② STOP → STARTUP Not relevant to Motion Control.
③ STARTUP → RUN The process outputs are enabled.
④ RUN → STOP When the CPU changes to RUN mode after STOP mode, all technology objects are
disabled in accordance with the alarm response "remove enablement". Running Mo-
tion Control jobs are terminated.

Guidelines 4
4.1 Guidelines on use of motion control
The guidelines described here present the basic procedure for using Motion Control with the
CPU S7-1500. These guidelines serve as recommendations.
Requirements
● A project with a CPU S7-1500 has been created.
Procedure
Proceed as follows to use Motion Control with the CPU S7-1500:
1. Add technology object (Page 99)
2. Working with the configuration editor (Page 100)
3. Programming (Page 172)
4. Downloading to CPU (Page 198)
5. Functional test in the Commissioning window (Page 199)
6. Diagnostics (Page 214)

Using versions 5
5.1 Overview of versions
The technology version for S7-1500 Motion Control includes the version of the technology
objects and the version of the Motion Control instructions. Only one technology version can
be operated on a CPU. This means that operation of two different technology versions side-
by-side is not possible on one CPU.
When changing to a CPU V1.6, you must change the technology version to V2.0. Card
replacement from a CPU < V1.6 to a CPU V1.6 is not permitted. In the TIA Portal, you can
only work on projects with technology version V2.0 with a CPU V1.6.
There are two ways of changing the technology version:
● Changing the version of the Motion Control instructions
You change the version of the Motion Control instructions in the "Instructions" task card in
the folder "Technology > Motion Control > S7-1500 Motion Control".
If the Motion Control instruction version used does not correspond to the compatibility list,
the relevant Motion Control instructions are highlighted in red in the program editor.
● Adding a technology object with an alternative version
If a technology object with an alternative version is added in the "Add new object" dialog,
the technology version is changed to the alternative version.
The technology objects and Motion Control instructions are only converted to the selected
version of the technology during compilation.
The version of a technology object or a Motion Control instruction can be checked in the
object properties in the "General > Information" tab in the "Version" box.

Using versions
Compatibility list
The table below shows the compatibility of the technology version with the CPU version:
CPU Technology Technology object Motion Control Instruction

V1.0, V1.1, V1.0 Speed axis V1.0 MC_Power V1.0
V1.51 Positioning axis V1.0 MC_Home V1.0
External encoder V1.0 MC_MoveJog V1.0
MC_MoveVelocity V1.0
MC_MoveRelative V1.0
MC_MoveAbsolute V1.0
MC_Halt V1.0
MC_Reset V1.0
V1.6 V2.0 Speed axis V2.0 MC_Power V2.0
Innovations: Positioning axis V2.0 MC_Home V2.0
• Synchronous axis External encoder V2.0 MC_MoveJog V2.0
• Relative gearing Synchronous axis V2.0 MC_MoveVelocity V2.0
• MC_GearIn MC_MoveRelative V2.0

MC_MoveAbsolute V2.0
• MC_MoveSuperimposed
MC_Halt V2.0
• Standardization of the
"MC_Home.Mode" parameter for MC_Reset V2.0
S7-1200 Motion Control and MC_GearIn V2.0
S7-1500 Motion Control MC_MoveSuperimposed V2.0
• Simulation mode
• Support of the safety functions of the
drive
1) Card replacement from a CPU < V1.6 to a CPU V1.6 is not supported.

Using versions
Parameter "Mode" of the Motion Control instruction "MC_Home"

The "MC_Home.Mode" parameter for S7-1200 Motion Control and S7-1500 Motion Control
has been standardized within the framework of technology version V2.0. This results in a
new assignment of the parameter values for the "MC_Home.Mode" parameter.
The table below shows a comparison of the "MC_Home.Mode" parameter for technology
V1.0 and V2.0:
MC_Home.HomingMode V1.0 Parameter value MC_Home.Mode V2.0

Direct homing (absolute) 0 Direct homing (absolute)
Direct homing (relative) 1 Direct homing (relative)
Passive homing 2 Passive homing (without reset)
Passive homing (with configured home position) 3 Active homing
Active homing 4 Reserved
Active homing (with configured home position) 5 Active homing (with configured home position)
Absolute encoder adjustment (relative) 6 Absolute encoder adjustment (relative)
Absolute encoder adjustment (absolute) 7 Absolute encoder adjustment (absolute)
Passive homing (without reset) 8 Passive homing
Canceling passive homing 9 Canceling passive homing
- 10 Passive homing (with configured home position)
You can find additional information about the "MC_Home.Mode" parameter in the description
of the Motion Control instruction "MC_Home" (Page 239).

Using versions
5.2 Changing a technology version

Before you can access all the benefits of a new technology version, you need to change the
technology version for existing projects.
Changing technology version to V2.0

To change the technology version to V2.0, follow these steps:
1. Replace the CPU V1.0...V1.5 in the project with a CPU V1.6.
2. Open the programming editor (e.g., by opening the OB1).
The technology objects and Motion Control instructions are highlighted in red after the
CPU is replaced.
3. In the "Instructions" task card, open the technology version V2.0 in the
"Technology > Motion Control > S7-1500 Motion Control" folder.
4. Save and compile the project.
The version of the technology objects and Motion Control instructions is changed to V2.0
during compilation of the project.
Pay attention to any error information that is displayed during compilation. Deal with the
causes of the errors indicated.
5. Check the configuration of the technology objects.

Using versions
Resetting the parameter "Mode" of the Motion Control instruction "MC_Home"

When the technology version is changed from V1.0 to V2.0, the "MC_Home.HomingMode"
(V1.0) parameter is renamed to "MC_Home.Mode" (V2.0). The assignment of the parameter
values is changed as well.
To reset the "MC_Home.Mode" (V2.0) parameter, follow these steps:
1. To change the technology version, follow the instructions given above.
When compiling the project, the "MC_Home.HomingMode" (V1.0) parameter is renamed
to "MC_Home.Mode" (V2.0):
– The assignment of the parameter values is changed. A comparison of the
"MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is available in the
section Version overview (Page 86).
You can find additional information about the "MC_Home.Mode" parameter in the
description of the Motion Control instruction "MC_Home" (Page 239).
– The value configured at the "MC_Home.HomingMode" parameter (V1.0) is lost. As a
note on renaming, the following text is entered at the "MC_Home.Mode" (V2.0)
parameter as parameter value:
"Die Schnittstelle hat sich geändert. Weitere Informationen finden Sie in der
Beschreibung der Motion Control-Anweisung MC_Home."
– There is a message in the "Info > Compile" tab in the Inspector window stating that the
operand has the wrong data type.
2. Change the value of the "MC_Home.Mode" parameter (V2.0) in your user program
according to the new assignment.
3. Save and compile the project.

Configuring 6
6.1 Adding and configuring drives in the device configuration
6.1.1 Add and configure PROFINET IO drives

Adding and configuring a PROFINET IO drive is described below using a SINAMICS S120
drive. Adding and configuring other PROFINET IO drives may differ from the description in
certain respects.
Requirements
● The SIMATIC S7-1500 device is created in the project.
● The desired drive can be selected in the hardware catalog.
If the drive is not available in the Hardware Catalog, then it must be installed in the "Extras"
menu as a device description file (GSD).
Adding a drive and frame in the device configuration

1. Open the device configuration and change to the network view.
2. In the hardware catalog, open the folder "Additional Field Devices > PROFINET IO >
Drives > Siemens AG > SINAMICS".
3. Select the desired drive with the desired version, then drag it to the network view.
4. Assign the drive to the PROFINET interface of the PLC.
5. Open the drive in the device view.
6. Drag a Drive Object (DO) and a standard frame from the hardware catalog to the slot of
the device overview of the drive.
Depending on the version of the SINAMICS S120 drive, select "DO with standard telegram
X", or "DO Servo" and a "Standard telegram X" for the frame.
For more information on suitable frames, refer to the section Frames (Page 29).
Repeat step 6, if you want to add another drive and another standard frame.

Configuring
Enable isochronous operation of the drive in the device configuration

PROFINET drives can always be operated in isochronous mode or non-isochronous mode.
Isochronous mode, however, increases the quality of the position control of the drive.
Proceed as follows if you want to control the drive in isochronous mode:
1. Open the device view in the drive.
2. In the properties dialog, select the tab "PROFINET Interface [X1] > Advanced options >
Isochronous mode".
3. Select the "Isochronous mode" check box in this tab.
The entry for the frame also has to be selected for isochronous mode in the detailed view.
Interconnecting the port of the PLC with the port of the drive
1. Open the topology view in the device configuration.
2. Interconnect the port of the PLC with the port of the drive.
Configuring the PLC as the sync master and setting isochronous mode
1. Select the device view of the PLC.
2. In the properties dialog, select the tab "PROFINET Interface [X1] > Advanced options >
Realtime settings > Synchronization".
3. Select "Sync master" from the "Synchronization role" drop-down list.
4. Click the "Domain settings" button.
5. Open the "Domain Management > Sync Domains" tab and set the desired "Send clock"
(isochronous clock).
Select drive in the configuration of the technology object

1. Add a new axis technology object, or open the configuration of an existing axis.
2. Open the configuration "Hardware interface > Drive".
3. Select "PROFIdrive" from the "Drive type" drop-down list.
4. Select the Drive Object of the PROFINET drive from the "Drive" list.
For information on how to add a technology object, refer to the section Add technology
object (Page 99).
Result
The technology object is connected to the drive and the "MC Servo" organization block can
be checked / configured.
The frame of the configured drive is assigned to the "PIP OB Servo" process image.

Configuring
Checking/configuring the properties of the MC Servo

1. Open the "Program blocks" folder in the project navigator.
2. Select the "MC Servo" organization block.
3. Select the "Properties" command in the shortcut menu.
4. Select the "Cycle time" entry in the area navigation.
5. The option "Synchronous to the bus" must be selected in the dialog box.
6. A "PROFINET IO_System" must be selected in the "Distributed I/O" drop-down list.
7. The application cycle of "MC-Servo" must correspond to the send clock of the bus or be
reduced by an integral factor relative to the send clock of the bus.
Result
The PROFINET IO drive is now configured so that it can be controlled in the PROFINET IO
network in isochronous mode.
The properties of the SINAMICS drive must be configured according to the configuration of
the axis with a separate STARTER program.
Checking isochronous mode on the drive

If the configuration sequence described above is not adhered to during configuration of the
axis, and drive-specific error occurs when the project is compiled, the setting for isochronous
mode on the drive must be checked.
2. Select standard message item in the device overview.
3. Select the properties dialog "General > I/O Addresses".
4. The following settings apply for the input and output addresses:
– "Isochronous mode" is enabled.
– "MC Servo" must be select the "Organization block".
– "PIP OB Servo" must be select the "Process image".
See also
Frames (Page 29)
Add technology object (Page 99)

Configuring
6.1.2 Add and configure PROFIBUS DP drives

Adding and configuring a PROFIBUS IO drive is described below using a SINAMICS S120.
Adding and configuring other PROFIBUS drives may differ from the description in certain
respects.
Requirements
● The SIMATIC S7-1500 device is created in the project.
● You have a basic knowledge of how to configure PROFIBUS DP networks.
● The desired drive can be selected in the hardware catalog.
If the drive is not available in the Hardware Catalog, then it must be installed in the "Extras"
menu as a device description file (GSD).
Adding a drive and frame in the device configuration

1. Open the device configuration and change to the network view.
2. In the hardware catalog, open the folder "Additional Field Devices > PROFIBUS DP >
Drives > Siemens AG > SINAMICS".
3. Select the folder of the desired drive with the desired version, then drag the drive object
to the network view.
4. Assign the drive to the PROFIBUS interface of the PLC.
5. Open the drive in the device view.
6. Drag a standard frame from the hardware catalog to the slot of the device overview of the
drive.
For more information on suitable frames, refer to the section Frames (Page 29).
Use the "Axis disconnector" in the hardware catalog if you want to add another drive and
another standard frame in the device overview.
Enable isochronous operation of the drive in the device configuration

PROFIBUS drives can always be operated in cyclic mode or isochronous mode. Isochronous
mode, however, increases the quality of the position control of the drive.
Proceed as follows if you want to control the drive in isochronous mode:
2. In the properties dialog, select the tab "General > Isochronous Mode".
3. Select the "Synchronize DP slave to constant DP bus cycle time" check box .

Configuring
Setting isochronous mode

1. Select the network view.
2. Select the DP master system.
3. In the properties dialog, select the tab "General > Constant bus cycle time".
4. Select the desired "Constant DP bus cycle times".
Select drive in the configuration of the technology object

1. Add a new axis technology object, or open the configuration of an existing axis.
3. Select "PROFIdrive" from the "Drive type" drop-down list.
4. Select the standard frame of the PROFIBUS drive from the "Drive" list.
object (Page 99).
Result
The technology object is connected to the drive and the "MC Servo" organization block can
be checked/configured.
The frame of the configured drive is assigned to the "PIP OB Servo" process image.
Checking/configuring the properties of the MC Servo

1. Open the "Program blocks" folder in the project navigator.
2. Select the "MC Servo" organization block.
3. Select the "Properties" command in the shortcut menu.
4. Select the "Cycle time" entry in the area navigation.
5. The option "Synchronous to the bus" must be selected in the dialog box.
6. A "PROFINET IO system" must be selected in the "Distributed I/O" drop-down list.
7. The application cycle of "MC-Servo" must correspond to the send clock of the bus or be
reduced by an integral factor relative to the send clock of the bus.
You can select a drive connected to the CPU via a communications
processor/communications module (CP/CM) in the configuration of the technology object.
You cannot select the DP master system of the CP/CM as the source clock for MC-Servo
[OB91].
Result
The PROFIBUS DP drive is now configured so that it can be controlled in the PROFIBUS
network in isochronous mode.
The properties of the SINAMICS drive must be configured according to the configuration of
the axis with a separate STARTER program.

Configuring
Checking isochronous mode on the drive

If the configuration sequence described above is not adhered to during configuration of the
axis, and drive-specific error occurs when the project is compiled, isochronous mode can be
checked on the drive.
2. Select standard message item in the device overview.
3. Select the properties dialog "General > I/O Addresses".
See also
Frames (Page 29)
6.1.3 Adding and configuring drives with analog connections

A description is provided below of how to add and configure a drive with an analog drive
connection and an encoder. An incremental encoder and a technology module in the rack of
the PLC is used as an example of the connection.
Requirements
The SIMATIC S7-1500 device is created in the project.
Adding and configuring an analog output module in the device configuration

1. Open the device configuration of the PLC.
2. Select an analog output module from the hardware catalog and drag the module to the
rack of the PLC.
3. Select the analog output module in the device view.
4. Open the "General" tab in the properties dialog and select there "Name of the Analog
Output Module > I/O Addresses".
5. Enter the desired start address.
6. In the properties dialog, select the tab "General > IO Tags".
7. Enter the tag name for the desired analog output.

Configuring
Adding and configuring a technology module

1. Switch to the device view of the PLC.
2. In the hardware catalog, open the folder "TM > Count > TM Count 2X24V".
3. Drag the counter module to a free slot in the rack.
4. Select the technology module in the device view.
5. In the properties dialog, open the "General" tab and select there "Count 2x24V > Basic
Parameters > Channel X > Operating Mode" of the channel to be used.
6. Select "Position detection for motion control" option for "Selection of the operating mode
for the channel".
7. Under "Module parameters", adapt the parameters of the incremental encoder (steps per
revolution = increments per revolution).
8. Under "Reaction to CPU STOP", select the item "Continue working".
Selecting the drive and encoder in the configuration of the technology object
1. Add a new positioning axis/synchronous axis technology object, or open the configuration
of an existing positioning axis/synchronous axis.
3. Select "Analog drive connection" from the "Drive type" drop-down list.
4. Select the previously defined tag name of the analog output from the "Output" list.
5. Open the configuration "Hardware interface > Encoder".
6. Under "Select encoder coupling" select "Encoder on technology module (TM)".
7. Select the channel of the incremental encoder from the "Technology module" list under
"local modules".
object (Page 99)
Result
The analog drive connection and the encoder connection are configured.
The analog addresses and the addresses of the TM module are assigned to the process
image "PIP OB Servo".

Configuring
Checking the encoder connection / drive connection

The encoder data are applied to the position control cycle clock. If in doubt, check the
following settings:
1. Switch to the device view of the PLC.
2. Select the module technology.
3. Open the properties dialog "Basic Parameters > I/O Addresses".
5. Select the analog module.
6. Open the properties dialog "Name of the Analog Module > I/O Addresses".
7. The settings from Step 4 apply for the input and output addresses
See also

Configuring
6.2 Add technology object
6.2 Add technology object

To add a technology object in the project navigator, proceed as follows:
Requirement
A project with a CPU S7-1500 has been created.
Procedure
1. Open the CPU's folder in the project navigator.
2. Open the "Technology Objects" folder.
3. Double-click "Add new object".
The "Add new object" dialog box opens.
4. Select the "Motion Control" technology.
5. Open the folder "Motion Control" > "SIMATIC S7-1500".
6. If you want to add an axis from an older version, then click on the Version entry and
select an alternative version of the technology.
7. Select the "TO_SpeedAxis" object for a speed axis, "TO_PositioningAxis" for a positioning
axis, "TO_SynchronousAxis" for a synchronous axis or "TO_ExternalEncoder" for an
external encoder.
8. In the "Name" field, adapt the name of the axis to your requirements.
9. Select the "Manual" option if you want to change the suggested data block number.
10.Click on "Further Information" if you want to add your own information to the technology
object.
11.Click on the "Cancel" button if you want to discard the entries.
Activate the "Add new and open" check box if you want to open the configuration after
adding the technology object.
Click on the "OK" button if you want to add the technology object.
Result
The new technology object was created and saved in the project navigator in the folder
"Technology objects".
If the organization blocks "MC Servo" and "MC Interpolator" had not yet been added, they
have now been added.

Configuring
6.3 Working with the configuration editor
6.3 Working with the configuration editor

You configure the properties of a technology object in the configuration window. To open the
configuration window of the technology object in the project view, follow these steps:
1. Open the device "Technology objects" group in the project navigator.
2. Select the technology object and double-click on "Configuration".
The configuration is divided into categories which depend on the object type, for example:
Basic parameters, hardware interface, extended parameters.
Configuration editor icons

Icons in the area navigation of the configuration show additional details about the status of
the configuration:
The configuration contains default values and is complete.

The configuration contains only default values. With these default values you can use the technology object without
additional changes.
The configuration contains values set by the user and is complete.
All input fields of the configuration contain valid values and at least one preset value has changed.
The configuration is incomplete or incorrect
At least one input field or drop-down list contains an invalid value. The corresponding field or the drop-down list is
displayed on a red background. Click the field shows you the roll-out error message that indicates the cause of error.

Configuring
6.4 Compare values
6.4 Compare values

If there is an online connection to the CPU, the "Compare values" function appears in the
configuration of the technology object.
The "Compare values" function provides the following options:
● Comparison of configured start values of the project with the start values in the CPU and
the actual values
● Direct editing of actual values and the start values of the project
● Immediate detection and display of input errors with suggested corrections
● Backup of actual values in the project
● Transfer of start values of the project to the CPU as actual values
Symbols and operator controls

If there is an online connection to the CPU, the actual values are displayed at the
parameters.
In addition to the actual values of the parameters, the following symbols appear:
Symbol Description
Start value in CPU matches the configured Start value in the project
Start value in CPU does not match the configured Start value in the project
The comparison of the Start value in CPU with the configured Start value in the project
cannot be performed
Use the button to show the start value of the CPU and the start value of the project for
each parameter.
The actual value and the start value of the CPU can be changed directly, and then
downloaded to the CPU. The change of actual value is transferred directly to the CPU for
directly modifiable parameters.

Configuring
6.5 Configuring the Speed-Control Axis technology object
6.5.1 Configuration - Basic Parameters

Configure the basic properties of the technology object in the "Basic Parameters"
configuration window.
Axis name
Define the name of the speed axis in this field. The technology object is listed in the project
navigation under this name. The tags of the speed axis can be used in the user program
under this name.
Speed unit
Select the measuring system for speed from the drop-down list box.
6.5.2 Hardware interface
6.5.2.1 Configuration - Drive

In the "Drive" configuration window, configure which drive type and which drive you want to
use.
Drive type
In the drop-down list, select whether you want to deploy a PROFIdrive drive or a drive with
an analog drive connection.
PROFIdrive drives are connected to the controller by means of a digital communication
system (PROFINET or PROFIBUS). The communication occurs via PROFIdrive frames.
Drives with an analog drive connection receive the setpoint speed via an analog output
signal (e.g. from -10 V to +10 V) from the PLC.
Drive (drive type: PROFIdrive)

In the "Drive" field, select an already configured PROFIdrive drive / slot. If a PROFIdrive
drive was selected, then it can be configured using the "Device configuration" button.
Switch to the device configuration, and add a PROFIdrive drive in the network view, in the
event that no PROFIdrive drive can be selected.

Configuring
Analog output (drive type: Analog drive connection)

In the "Output" field, select the PLC tag of the analog output over which the drive is to be
controlled. If an output was selected, then it can be configured using the "Device
configuration" button.
In order to be able to select an output, an analog output module must have been added in
the device configuration, and the PLC tag name for the analog output must be defined.
Activate enable output (drive type: Analog drive connection)

In the "Enable output" field, select the PLC tag of the digital output to enable the drive. With
the enable output, the speed controller in the drive is enabled, or disabled.
In order to be able to select an enable output, a digital output module must have been added
in the device configuration, and the PLC tag name for the digital output must be defined.
Note
If you do not use an enable output, the drive cannot be immediately disabled on the part of
the system due to error reactions or monitoring functions. A controlled stop of the drive is not
guaranteed.
Enable ready input (drive type: Analog drive connection)

In the "Ready input" field, select the PLC tag of the digital input with which the drive is to
report its operational readiness to the technology object. The power unit is switched on and
the analog setpoint speed input is enabled.
In order to be able to select a ready input, a digital input module must have been added in
the device configuration, and the PLC tag name for the digital input must be defined.
Note
The enable output and the ready input can be separately enabled.
The following conditions apply to the enabled ready input:
• The axis is not enabled (MC_Power Status=TRUE), until a signal is pending at the ready
input.
• If the signal at the ready input goes away for an enabled axis, then the axis is disabled
with an error.
• If the axis is disabled with the instruction MC_Power (Enable= FALSE), then the axis is
disabled even with a pending signal at the ready input.
See also
Configuration - Data exchange (Page 104)

Configuring
6.5.2.2 Configuration - Data exchange
Data exchange with the drive

In this area, you can configure the data transmission to the drive.
Message frame type (drive type PROFIdrive)

In the drop-down list, select the frame for the drive. The specification must match the setting
in the device configuration.
Reference speed (drive type PROFIdrive)

In this field, configure the reference speed of the drive in accordance with the manufacturer's
specifications. The specification of the drive's speed occurs as a percentage of the reference
speed in the range from -200% to 200%.
Reference speed (drive type analog drive connection)

The reference speed of the drive is the speed, with which the drive spins when there is an
output of 100% at the analog output. The reference speed must be configured in the drive,
and transferred into the configuration of the technology object.
The analog value that is output at 100% depends on the type of the analog output. As an
example, with an analog output with +/- 10 V, the value 10 V is output at 100%.
Analog outputs can be overloaded by about 17%. This means that an analog output can be
operated in the range from -117% to 117%, insofar as the drive permits this.
Maximum speed
In this field, specify the maximum speed of the drive.
Invert drive direction

Select the check box if the rotation direction of the drive should be inverted.

Configuring
6.5.3 Extended Parameters
6.5.3.1 Configuration - Mechanics

Configure the connection of the load to the drive in the "Mechanics" configuration window.
Number of motor revolutions / number of load revolutions

The gear ratio of the load gear is specified as the ratio between motor revolutions and load
revolutions. Specify here an integral number of motor revolutions and the resulting number of
load revolutions.
6.5.3.2 Configuration - Dynamic limits

In the "Dynamic limits" configuration window, configure the maximum values for speed,
acceleration, deceleration and jerk of the axis.
Maximum speed
In this field, define the maximum permitted speed of the axis.
Maximum acceleration / maximum deceleration - ramp-up time / ramp-down time

Set the desired acceleration in the "Ramp-up time" or "Acceleration" fields. The desired
deceleration can be set in the "Ramp-down time" or "Deceleration" fields.
The relationship between ramp-up time and acceleration, and ramp-down time and
deceleration can be seen in the following equations:
Note
A change in the maximum speed influences the acceleration and deceleration values of the
axis. The ramp-up and ramp-down times are retained.

Configuring
Smoothing time / jerk

You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the
"Jerk" box:
● Set the desired jerk for the acceleration ramp and the deceleration ramp in the "Maximum
jerk" box. The value 0 means that the jerk is not limited.
● Set the required smoothing time for the acceleration ramp in the "Smoothing time" box.
Note
The configured smoothing time displayed in the configuration, applies only to the
acceleration ramp.
If the values of the acceleration and deceleration differ, the smoothing time of the
deceleration ramp is calculated and used according to the jerk of the acceleration ramp.
The smoothing time of the deceleration is adapted as follows:
• Acceleration > Deceleration
A shorter smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration < Deceleration
A longer smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration = Deceleration
The smoothing times of the acceleration ramp and the deceleration ramp are the
same.
If an error occurs, the axis decelerates with the configured emergency stop deceleration.
A configured jerk limit is not taken into account for this.
The following equations show the relationship between the smoothing times and the jerk:
Traversing jobs initiated in the user program are executed with the selected jerk.

Configuring
6.5.3.3 Configuration - Dynamic Defaults

In the "Dynamic defaults" configuration window, configure the default values for speed,
The default values have an effect, when values < 0 are specified in Motion Control
instructions for the "Velocity", "Acceleration", "Deceleration" or "Jerk" parameters. The
default values can be applied separately for each of the parameters just listed.
Speed
In this field, define the default value for the speed of the axis.
Acceleration / deceleration - ramp-up time / ramp-down time

Set the desired default value for acceleration in the "Ramp-up time" or "Acceleration" fields.
The desired deceleration can be set in the "Ramp-down time" or "Deceleration" fields.
Note
A change in the velocity influences the acceleration and deceleration values of the axis. The
ramp-up and ramp-down times are retained.

Configuring

"Jerk" box:
● Set the desired jerk for the acceleration ramp and the deceleration ramp in the "Jerk" box.
The value 0 means that the jerk is disabled.
Note
acceleration ramp.
acceleration ramp.
acceleration ramp.
same.

Configuring
6.5.3.4 Configuration - Emergency stop

In the "Emergency stop" configuration window, you can configure the emergency stop
deceleration of the axis. In the event of an error, and when disabling the axis, the axis is
brought to a standstill with this deceleration using the Motion Control instruction "MC_Power"
(input parameter StopMode = 0).
Emergency stop deceleration / Emergency stop ramp-down time

Configure the deceleration value for emergency stop in the "Emergency stop deceleration"
field or the "Emergency stop ramp-down time" field.
The relationship between emergency stop ramp-down time and emergency stop deceleration
can be seen in the following equation:
The configuration of the emergency stop deceleration is related to the configured maximum
speed of the axis. If the maximum speed of the axis changes, then the value of the
emergency stop deceleration also changes (the emergency stop ramp-down time remains
unchanged).

Configuring
6.6 Configuring the positioning axis/synchronous axis technology object
Axis name
Define the name of the positioning axis/synchronous axis in this field. The technology object
is listed in the project navigation under this name. The variables of the technology object can
be used in the user program under this name.
Axis type
In this selection, configure whether the axis should perform linear or rotary motions.
Units of measure
In the drop-down list, select the desired measurement system for the position and velocity of
the axis.
Modulo
Select the check box "Enable modulo", if you want to employ a recurring unit of measure for
the axis (e.g. 0-360° for an axis of the "rotary" axis type).
● Modulo start value
In this field, define the position at which the modulo range should begin (e.g. 0° for an
axis of the "rotary" axis type).
● Modulo length
In this field, define the length of the modulo range (e.g. 360° for an axis of the "rotary"
axis type).

Configuring
6.6.2.1 Configuration - Drive

In the "Drive" configuration window, configure which drive type and which drive you want to
use.
Drive type
In the drop-down list, select whether you want to deploy a PROFIdrive drive or a drive with
an analog drive connection.
PROFIdrive drives are connected to the controller by means of a digital communication
system (PROFINET or PROFIBUS). The communication occurs via PROFIdrive frames.
Drives with an analog drive connection receive the setpoint speed via an analog output
signal (e.g. from -10 V to +10 V) from the PLC.
Drive (drive type: PROFIdrive)

In the "Drive" field, select an already configured PROFIdrive drive / slot. If a PROFIdrive
drive was selected, then it can be configured using the "Device configuration" button.
Switch to the device configuration, and add a PROFIdrive drive in the network view, in the
event that no PROFIdrive drive can be selected.
Analog output (drive type: Analog drive connection)

In the "Output" field, select the PLC tag of the analog output over which the drive is to be
controlled. If an output was selected, then it can be configured using the "Device
configuration" button.
In order to be able to select an output, an analog output module must have been added in
the device configuration, and the PLC tag name for the analog output must be defined.
Activate enable output (drive type: Analog drive connection)

In the "Enable output" field, select the PLC tag of the digital output to enable the drive. With
the enable output, the speed controller in the drive is enabled, or disabled.
In order to be able to select an enable output, a digital output module must have been added
in the device configuration, and the PLC tag name for the digital output must be defined.
Note
If you do not use an enable output, the drive cannot be immediately disabled on the part of
the system due to error reactions or monitoring functions. A controlled stop of the drive is not
guaranteed.

Configuring
Enable ready input (drive type: Analog drive connection)

In the "Ready input" field, select the PLC tag of the digital input with which the drive is to
report its operational readiness to the technology object. The power unit is switched on and
the analog setpoint speed input is enabled.
In order to be able to select a ready input, a digital input module must have been added in
the device configuration, and the PLC tag name for the digital input must be defined.
Note
The enable output and the ready input can be separately enabled.
The following conditions apply to the enabled ready input:
• The axis is not enabled (MC_Power Status=TRUE), until a signal is pending at the ready
input.
• If the signal at the ready input goes away for an enabled axis, then the axis is disabled
with an error.
• If the axis is disabled with the instruction MC_Power (Enable= FALSE), then the axis is
disabled even with a pending signal at the ready input.

Configuring
6.6.2.2 Configuration - Encoder

For position control, positioning axes/synchronous axes require an actual position value in
the form of an encoder position. The encoder position is transmitted to the controller by
means of a PROFIdrive frame. In the "Encoder" configuration window, configure the encoder
coupling with which the encoder is to be connected.
Select encoder coupling:

In this area, select how the encoder will be connected in keeping with the graphic
representation.
● Connection to drive (not with analog drive connection)
Select this option, if the encoder is connected to the drive. The configuration of the
encoder occurs via the configuration of the PROFIdrive drive. The drive evaluates the
encoder signals and sends them to the controller in a PROFIdrive frame.
● Encoder on technology module (TM)
Select this option, if the encoder is connected to a technology module (TM).
– Technology module:
In the "Technology module" field, select a technology module that has already been
configured, and the channel to be used. Only technology modules set to the "Position
detection for motion control" mode are displayed for selection.
If no technology module is available for selection, change to the device configuration
and add a technology module. If you have selected a technology module, you can
change to the configuration of the technology module using the "Device configuration"
button.
You can operate the technology module centrally on an S7-1500 PLC, or distributed
on a distributed I/O. You can identify the technology modules suitable for position
detection for Motion Control in the documentation for the technology module and the
catalog data.
● PROFIdrive encoder on PROFINET/PROFIBUS (PROFIdrive)
Select this option, if you are deploying a PROFIdrive compatible encoder.
– PROFIdrive encoder:
In the "PROFIdrive encoder" field, select a configured encoder on
PROFINET/PROFIBUS. If an encoder was selected, then it can be configured using
the "Device configuration" button.
Switch to the device configuration in the network view, and add an encoder, in the
event that no encoder can be selected.

Configuring
Configuration - Data exchange

In the "Data exchange" configuration window, you can configure the data exchange of the
drive and the encoder. The configuration varies according to the drive type and encoder
coupling:
● Analog driver connection - Encoder to technology module (TM) (Page 114)
● Analog driver connection - PROFIdrive encoder on PROFINET/PROFIBUS (Page 116)
● PROFIdrive Drive - Encoder to Drive (Page 118)
● PROFIdrive drive - Encoder on the technology module (TM) (Page 120)
● PROFIdrive drive - PROFIdrive encoder on PROFINET/PROFIBUS (Page 122)
Analog driver connection - Encoder to technology module (TM)

In this area, you can configure the data exchange with the drive.
● Drive message frame:
Since the analog drive is controlled via an analog signal, the selection of the frame type is
omitted.
● Reference speed:
output of 100% at the analog output. The reference speed must be configured in the
drive, and transferred into the configuration of the technology object.
Analog outputs can be overloaded by about 17%. This means that an analog output can
be operated in the range from -117% to 117%, insofar as the drive permits this.
● Maximum speed
● Invert drive direction

Configuring
Data exchange with encoder

In this area, you can configure how the encoder data are to be evaluated. The specifications
must match those in the device configuration.
● Encoder message frame:
The encoder data can be transferred only with encoder message frame 83.
● Encoder type:
Depending on the selected encoder type, configure the following parameters:
Encoder type Rotary incremental

Steps per revolution: In this field, configure the number of steps that
the encoder resolves per revolution.
Bits for fine resolution in the incremental actual In this field, configure the number of bits for fine
value (Gn_XIST1) resolution within the incremental actual value
(Gn_XIST1).
Encoder type Rotary absolute

Number of revolutions: In this field, configure the number of revolutions
that the absolute value encoder can detect.
Bits for fine resolution in the incremental actual In this field, configure the number of reserved bits
value (Gn_XIST1) for fine resolution within the incremental actual
value (Gn_XIST1).
Bits for the multiplication factor of the absolute In this field, configure the number of reserved bits
value of the fine resolution (Gn_XIST2) for the multiplication factor of the absolute value
of the fine resolution (Gn_XIST2).
Encoder type Rotary cyclic absolute

(Gn_XIST1).

Configuring
Encoder type Linear incremental

Distance between two increments: In this field, you can configure the distance
between two steps of the encoder.
(Gn_XIST1).
Encoder type Linear absolute

(Gn_XIST1).
Invert encoder direction

Select this check box if you would like to invert the actual value of the encoder.
Analog driver connection - PROFIdrive encoder on PROFINET/PROFIBUS

Since the analog drive is controlled via an analog signal, the selection of the frame type is
omitted.
output of 100% at the analog output. The reference speed must be configured in the
drive, and transferred into the configuration of the technology object.
Analog outputs can be overloaded by about 17%. This means that an analog output can
be operated in the range from -117% to 117%, insofar as the drive permits this.
● Maximum speed

Configuring

In this area, you can configure the encoder frame and the criteria for how the encoder data
are to be evaluated. The specifications must match those in the device configuration.
In the drop-down list, select the frame of the encoder. The specification must match the
setting in the device configuration.
● Encoder type:

(Gn_XIST1).

value (Gn_XIST1).
Bits for fine resolution in the absolute actual value In this field, configure the number of reserved bits
(Gn_XIST2) for the multiplication factor of the absolute value

(Gn_XIST1).
Bits for fine resolution in the absolute actual value In this field, configure the number of bits for fine
(Gn_XIST2) resolution within the absolute actual value
(Gn_XIST2).

Configuring

(Gn_XIST1).

(Gn_XIST1).
Bits for fine resolution in the absolute actual value In this field, configure the number of bits for fine
(Gn_XIST2) resolution within the absolute actual value
(Gn_XIST2).

PROFIdrive Drive - Encoder to Drive

In the drop-down list, select the frame for the drive. The specification must match the
In this field, configure the reference speed of the drive in accordance with the
manufacturer's specifications. The specification of the drive's speed occurs as a
percentage of the reference speed in the range from -200% to 200%.
● Maximum speed

Configuring

The encoder data is transmitted with the drive frame. Therefore, no frame selection is
available.
● Encoder type:

(Gn_XIST1).

value (Gn_XIST1).

(Gn_XIST1).

Configuring

(Gn_XIST1).

(Gn_XIST1).

PROFIdrive drive - Encoder on the technology module (TM)

● Maximum speed

Configuring

The encoder data can be transferred only with encoder message frame 83.
● Encoder type:

(Gn_XIST1).

value (Gn_XIST1).

(Gn_XIST1).

Configuring

(Gn_XIST1).

(Gn_XIST1).

PROFIdrive drive - PROFIdrive encoder on PROFINET/PROFIBUS

● Maximum speed

Configuring

● Encoder type:

(Gn_XIST1).

value (Gn_XIST1).
(GN_XIST2) for fine resolution within the absolute actual value
(Gn_XIST2).

(Gn_XIST1).
(Gn_XIST2).

Configuring

(Gn_XIST1).

(Gn_XIST1).
(Gn_XIST2).

6.6.3 Configuration - master value interconnections (synchronous axis only)

You can interconnect a synchronous axis with multiple leading axes. You can only actively
interconnect one leading axis as a master value during runtime of your user program.
All interconnection required during operation must be set up during configuration of the
technology object.
Possible master values

Add all axes that you require for operation as a master value for the synchronous axis in the
"Possible master values" list. You can add positioning axes or synchronous axes as leading
axes.
You can interconnect the axes added in the list as master value with the synchronous axis
with the Motion Control instruction "MC_GearIn".
All configured master value interconnections for the technology object are displayed in the
cross-reference list of the technology object.

Configuring
Configuration - Mechanics
In the "Mechanics" configuration window, you can configure the mounting type of the
encoder, and the adaptation of the encoder value to the mechanical conditions.
Type of encoder mounting

In the drop-down list, select how the encoder is mounted on the mechanism. The
configuration varies depending on the axis type and the type of encoder mounting.
Axis type: Linear
● Linear - On the motor shaft (Page 125)
● Linear - On the motor side (Page 126)
● Linear - External Measuring System (Page 126)
Axis type: Rotary
● Rotary - On the motor shaft (Page 127)
● Rotary - On the load side (Page 127)
● Rotary - External Measuring System (Page 128)
Linear - On the motor shaft

The encoder is firmly mechanically connected with the motor shaft. Motor and encoder form
a unit.
Load gear
● Consider load gear and leadscrew pitch for encoder evaluation
Activate the check box, if you want to perform the configuration based on the gear ratio
and the leadscrew pitch.
Deactivate the check box, if you want to perform the configuration based on the motor
revolution and the resulting distance.
● Number of motor revolutions / number of load revolutions
The gear ratio of the load gear is specified as the ratio between motor revolutions and
load revolutions. Specify here an integral number of motor revolutions and the resulting
number of load revolutions.

Configuring
Position parameter
● Leadscrew pitch (select "Consider load gear and leadscrew pitch for encoder evaluation")
In this field, configure the distance by which the load is moved when the leadscrew
makes one revolution.
In this field, configure the load distance for one motor revolution.
Linear - On the motor side

The encoder is mechanically connected with the load side of the gear.
Load gear
Select the same values for the number of motor revolutions and load revolutions, if no
load gear is present.
Position parameter
● Leadscrew pitch
Linear - External Measuring System

An external measuring system provides the position values of the linear load motion.

Configuring
Load gear
● Consider load gear and leadscrew pitch for encoder evaluation
Deactivate the check box, if you want to perform the configuration based on the motor
Position parameter
In this field, configure the distance by which the load is moved when the motor makes
one revolution.
● Distance per encoder revolution
In this field, configure the distance recorded by the external measuring system per
encoder revolution.
Rotary - On the motor shaft

The encoder is firmly mechanically connected with the motor shaft. Motor and encoder form
a unit.
Load gear
Rotary - On the load side

The encoder is mechanically connected with the load side of the gear.

Configuring
Load gear
Rotary - External Measuring System

An external measuring system provides the position values of the rotary load motion.
Load gear
Position parameter
● In this field, configure the distance recorded by the external measuring system per
encoder revolution.

Configuring
6.6.4.2 Configuration - Position monitoring

Configure the hardware and software limit switches of the axis in the "Position monitoring"
Enable HW limit switches

The check box activates the function of the negative and positive hardware limit switches.
The negative hardware limit switch is located on the side in the negative direction of travel,
and the positive hardware limit switch on the side in the positive direction of travel.
With enabled hardware limit switches, the drive is disabled when the hardware limit switch is
approached or overshot. The drive brakes with the braking ramp configured in the drive.
Exception: If a hardware limit switch is overshot during an active home position approach
with activated direction reversal at the hardware limit switch, then the axis stops with the
configured maximum deceleration, and continues the home position approach in the
opposite direction.
Note
Only use hardware limit switches that remain permanently switched after the approach. This
switch state may only be canceled after the return into the permitted traversing range.
The digital inputs of the hardware limit switch are evaluated by default in cyclical data
exchange. In the settings for the input module under "I/O addresses", select the entry
"MC-Servo" for "Organization block" and the entry "PIP OB servo" for "Process image" if the
hardware limit switches are to be evaluated in the position control cycle of the drive.
Negative / positive HW limit switch input

In these fields, select the PLC tags of the digital input for the negative and positive HW limit
switches.
In order to be able to select an input, a digital input module must have been added in the
device configuration, and the PLC tag name for the digital input must be defined.
CAUTION
During installation of hardware limit switches, attention must be paid to the filter times of the
digital inputs
Based on the time for a servo clock cycle and the filter time of the digital inputs, the
resulting delay times must be taken into account.
The filter time is configurable in individual digital input modules in the device configuration.
The digital inputs are set to a filter time of 6.4 ms by default. If these are used as hardware
limit switches, undesired decelerations may occur. If this occurs, reduce the filter time for
the relevant digital inputs.
The filter time can be set under "Input filter" in the device configuration of the digital inputs.

Configuring
Negative / positive HW limit switch level selection

Select the triggering signal level ("Lower level" / "Upper level") of the hardware limit switch.
At "Lower level", the input signal is FALSE after the axis has reached or passed the
hardware limit switch. At "Upper level", the input signal is TRUE after the axis has reached or
passed the hardware limit switch.
Enable software limit switch

This check box activates the upper and lower software limit switches. An active motion is
stopped after the axis has reached a position of the software limit switch. The technological
object reports a fault. After acknowledging the error, the axis can again be moved in the
direction of its working range.
Note
Enabled software limit switches only affect a homed axis.
Position of negative / positive SW limit switch

Configure the operating range of the axis using the positions of the negative and positive
software limit switches.
6.6.4.3 Configuration - Dynamic limits

In the "Dynamic limits" configuration window, configure the maximum values for velocity,
Maximum velocity
In this field, define the maximum permitted velocity of the axis.
Maximum acceleration / maximum deceleration - ramp-up time / ramp-down time

Set the desired acceleration in the "Ramp-up time" or "Acceleration" fields. The desired
deceleration can be set in the "Ramp-down time" or "Deceleration" fields.

Configuring
Note
A change in the maximum velocity influences the acceleration and deceleration values of the
axis. The ramp-up and ramp-down times are retained.
The "maximum deceleration" for active homing with change of direction at the hardware limit
switch must be set sufficiently large, to brake the axis before reaching the mechanical
endstop.

"Jerk" box:
The value 0 means that the jerk is not limited.
Note
acceleration ramp.
acceleration ramp.
acceleration ramp.
same.

Configuring
6.6.4.4 Configuration - Dynamic Defaults

In the "Dynamic defaults" configuration window, configure the default values for velocity,
The default values have an effect, when values < 0 are specified in Motion Control
instructions for the "Velocity", "Acceleration", "Deceleration" or "Jerk" parameters. The
default values can be applied separately for each of the parameters just listed.
The default values for acceleration and deceleration additionally have an effect on the
traversing motions of active homing.
Velocity
In this field, define the default value for the velocity of the axis.
Acceleration / deceleration - ramp-up time / ramp-down time

Set the desired default value for acceleration in the "Ramp-up time" or "Acceleration" fields.
The desired deceleration can be set in the "Ramp-down time" or "Deceleration" fields.
Note
A change in the velocity influences the acceleration and deceleration values of the axis. The
ramp-up and ramp-down times are retained.

Configuring

"Jerk" box:
The value 0 means that the jerk is disabled.
Note
acceleration ramp.
acceleration ramp.
acceleration ramp.
same.

Configuring
6.6.4.5 Configuration - Emergency stop

In the "Emergency stop" configuration window, you can configure the emergency stop
deceleration of the axis. In the event of an error, and when disabling the axis, the axis is
brought to a standstill with this deceleration using the Motion Control instruction "MC_Power"
(input parameter StopMode = 0).
Emergency stop deceleration / Emergency stop ramp-down time

Configure the deceleration value for emergency stop in the "Emergency stop deceleration"
field or the "Emergency stop ramp-down time" field.
The relationship between emergency stop ramp-down time and emergency stop deceleration
can be seen in the following equation:
The configuration of the emergency stop deceleration is related to the configured maximum
velocity of the axis. If the maximum velocity of the axis changes, then the value of the
emergency stop deceleration also changes (the emergency stop ramp-down time remains
unchanged).

Configuring
6.6.4.6 Homing
Homing means matching the position value of a technology object to the real, physical
location of the drive. Absolute positions on the axis can only be approached with a homed
axis.
In S7-1500 Motion Control, axis homing is implemented with the Motion Control instruction,
"MC_Home". A distinction is made between the following operation modes of the Motion
Control instruction:
Operation modes of the Motion Control instruction "MC_Home"

● Active homing
In active homing mode, the Motion Control instruction "MC_Home" performs the
configured home position approach. Active traversing motions are aborted. When the
homing mark is detected, the position of the axis is set according to the configuration.
● Passive homing
During passive homing, the motion control instruction "MC_Home" does not carry out any
homing motion. The traversing motion required for this step must be implemented by the
user via other motion control instructions. Active traversing motions are not aborted upon
start of passive homing. When the homing mark is detected, the axis is set according to
the configuration.
● Direct homing absolute
The axis position is set regardless of the homing switch. Active traversing motions are not
aborted. The value of input parameter "Position" of motion control instruction "MC_Home"
is set immediately as the home position of the axis.
● Direct homing relative
The axis position is set regardless of the homing switch. Active traversing motions are not
aborted. The following statement applies to the axis position after homing:
New axis position = current axis position + value of parameter "Position" of instruction
"MC_Home".

Configuring
Active homing
Configuration - Active homing

Configure the parameters for active homing in the "Active Homing" configuration window.
"Active Homing" is performed using the Motion Control instruction "MC_Home" Mode = 3
and 5.
Note
new assignment of the parameter values for the "MC_Home.Mode" parameter. A
comparison of the "MC_Home.Mode" parameter for technology versions V1.0 and V2.0 is
available in the section Version overview (Page 86).
Selecting the homing mode

Select from among the following homing modes:
● Zero mark via PROFIdrive frame and proximity switch (Page 137)
● Zero mark via PROFIdrive frame (Page 138)
● Homing mark via digital input (Page 138)

Configuring
Zero mark via PROFIdrive frame and proximity switch
Enable direction reversal at the hardware limit switch

Select this check box to use the hardware limit switch as a reversing cam for the home
position approach. After the axis has reached the hardware limit switch during active homing,
it is ramped down at the configured maximum deceleration rate and the direction is then
reversed. The proximity switch is then sought in the reverse direction. If this function is not
enabled and the axis reaches the hardware limit switch during active homing, then the drive
is disabled and braked with the ramp configured in the drive.
Approach direction
Select the approach direction for seeking the proximity switch.
"Positive" is the approach direction in the direction of positive position values; "negative" in
the direction of negative position values.
Homing direction
Select the direction in which the zero mark should be approached for homing.
Approach velocity
In this field, specify the velocity at which the proximity switch is sought during the home
position approach. A possibly configured home position offset is traversed with the same
velocity.
Homing velocity
In this field, specify the velocity at which the axis approaches the zero mark for homing. For
zero mark detection, the proximity switch must be exited.

In the case of a differing zero mark position and home position, enter the corresponding
home position offset in this field. The axis approaches the home position at approach
velocity.
Home position
In this field, configure the absolute coordinate of the home position. The home position
configured here is in effect, when the Motion Control instruction "MC_Home" is executed with
Mode = 5.

Configuring
Zero mark via PROFIdrive frame

it is ramped down at the configured maximum deceleration rate and the direction is then
reversed. The zero mark is then sought in the reverse direction. If this function is not enabled
and the axis reaches the hardware limit switch during active homing, then the drive is
disabled and braked with the ramp configured in the drive.
Homing direction
Select the direction in which the next zero mark should be approached for homing.
"Positive" is the homing direction in the direction of positive position values; "negative" in the
direction of negative position values.
Approach velocity
In the "Zero mark via PROFIdrive frame" homing mode, the approach velocity for traversing
the home position offset is used.
Homing velocity
In this field, specify the velocity at which the axis approaches the zero mark for homing.

In the case of a differing zero mark position and home position, enter the corresponding
home position offset in this field. The axis approaches the home position at approach
velocity.
Home position
Mode = 5.
Homing mark via digital input

If a digital input is used as a homing mark, the accuracy of the homing process is not as high
as with hardware-supported homing using zero marks.
You can improve the accuracy by using a low homing velocity and a timer-supported input
module.
Pay attention to the setting of short filter times at the digital input as well.

Configuring
Digital input, homing mark

In this field, select the PLC tag of the digital input, which should act as a homing mark
(reference cam).
In order to be able to select an input, a digital input module must have been added in the
device configuration, and the PLC tag name for the digital input must be defined.

it is ramped down at the configured maximum deceleration rate and then reversed. The
home position switch is then sensed in reverse direction. If this function is not enabled and
the axis reaches the hardware limit switch during active homing, then the drive is disabled
and braked with the ramp configured in the drive.
Approach direction
Select the approach direction for seeking the homing mark.
"Positive" is the approach direction in the direction of positive position values; "negative" in
the direction of negative position values.
Homing direction
Select the direction in which the homing mark should be approached for homing.
Homing mark
Select the switch position of the "digital input" that is to be used as homing mark.
When a "digital input" is overshot, two switch edges which are spatially separated from one
another are generated. The selection of the positive or negative side ensures that the
homing mark is always evaluated based on the same mechanical position.
The positive side is the switch position with a greater position value; the negative side is the
switch position with the lesser position value.
The selection of the side is independent of the approach direction, and independent of
whether it causes a rising or falling edge.
Approach velocity
In this field, specify the velocity at which the "digital input" should be sought during the home
position approach. A possibly configured home position offset is traversed with the same
velocity.
Homing velocity
In this field, specify the velocity at which the axis approaches the home position for homing.

Configuring

In the case of a differing switch position and home position, enter the corresponding home
position offset in this field. The axis approaches the home position at approach velocity.
Home position
Mode = 5.
Passive homing
Configuration - Passive homing

Configure the parameters for passive homing in the "Passive Homing" (homing on the fly)
configuration window. The homing function "Passive homing" is performed using the Motion
Control instruction "MC_Home" Mode = 2, 8 and 10.
Note


Configuring
Homing direction
Select the direction in which the zero mark should be approached for homing. The next zero
mark after exiting the proximity switch is used.
The following options are available:
● Positive
Axis moves in the direction of higher position values.
● Negative
Axis moves in the direction of lower position values.
● Current
The currently effective approach direction is used for homing.
Home position
configured here is in effect when the Motion Control instruction "MC_Home" is executed with
Mode = 10.
Note

Configuring
Homing direction
Select the direction in which the next zero mark should be approached for homing. The
following options are available:
● Positive
● Negative
● Current
Home position
Mode = 10.
Note

Configuring
Digital input
In this dialog field, select a digital input which should act as a homing mark (reference cam).
Homing direction
● Positive
● Negative
● Current
Homing mark
Select which switch position of the "digital input" is to be used as homing mark.
Home position
Mode = 10.
Note

Configuring
6.6.4.7 Position monitoring
Configuration - Positioning monitoring

In the "Positioning Monitoring" configuration window, configure the criteria for monitoring the
target position.
Positioning window:
In this field, configure the size of the positioning window. If the axis is located within this
window, then the position is considered to be "reached".
Positioning tolerance time:

In this field, configure the tolerance time, in which the position value must reach the
positioning window.
Minimum dwell time in the positioning window:

In this field, configure the minimum dwell time. The current position value must be located in
the positioning window for at least the "minimum dwell time".
If one of the criteria is violated, then the axis is stopped and a positioning alarm is displayed.
Configuration - Following error

In the "Following Error" configuration window, configure the permissible deviation of the
actual position of the axis from the setpoint position. The following error can be dynamically
adapted to the current velocity of the axis.
Enable following error monitoring

Activate this check box, if you want to enable following error monitoring. When following
error monitoring is enabled, the axis will be stopped in the error range (orange); in the
warning range an alarm will be displayed.
When following error monitoring is disabled, the configured limits have no effect.
Maximum following error:

In this field, configure the following error that is permissible at maximum velocity.
Warning level:
In this field, configure a percentage of the current following error limit, above which a
following error warning should be output.
Example: The current maximum following error is 100 mm; the warning level is configured at
90%. If the current following error exceeds a value of 90 mm, then a following error warning
will be output.

Configuring
Following error:
In this field, configure the permissible following error for low velocities (without dynamic
adaptation).
Beginning of dynamic adaptation:

In this field, configure the velocity above which the following error should be dynamically
adapted. Above this velocity the following error will be adapted up to the maximum following
error at the maximum velocity.
Configuration - Standstill signal

In the "Standstill Signal" configuration window, configure the criteria for standstill detection.
Standstill window:
In this field, configure the size of the standstill window. For standstill to be indicated, the
velocity of the axis must be within this window.
Minimum dwell time in the standstill window:

In this field, configure the minimum dwell time in the standstill window. The velocity of the
axis must also be in the standstill window for the specified duration.
If both criteria are met, then the standstill of the axis is indicated.

Configuring
6.6.4.8 Configuration - Control loop

In the "Control loop" configuration window, configure the gain Kv of the position control loop.
The Kv factor affects the following parameters:
● Positioning accuracy and stop control
● Uniformity of motion
● Positioning time
The better the mechanical conditions of the axis are (high stiffness), the higher the Kv factor
can be configured. This reduces the following error, and a higher dynamic response is
achieved.
For basic information, refer to the section Control (Page 59).
Precontrol
In this box, configure the percentage velocity precontrol of the position control loop.
Gain
In the input field, enter the gain Kv of the control loop.
Dynamic Servo Control (DSC):

For position-controlled axes (positioning axes/synchronous axes), the position control can
occur either in the CPU or in the drive, provided the drive supports the Dynamic Servo
Control (DSC) control process. Select your preferred control process:
● Position control in drive (DSC enabled)
● Position control in the PLC
Note
Dynamic Servo Control (DSC) is only possible with standard frame 5.
See also
Function and structure of the optimization (Page 207)
Control (Page 59)

Configuring
6.7 Configuring the External Encoder technology object

Configure the basic properties of the technology object in the "Basic Parameters"
Name of the external encoder

Define the name of the external encoder in this field. The technology object is listed in the
project navigation under this name. The tags of the external encoder can be used in the user
program under this name.
Type of the external encoder

In this selection, configure whether the external encoder records linear or rotary motions.
Units of measure
In the drop-down list, select the desired measurement system for the position and velocity of
the external encoder.
Modulo
Select the check box "Activate modulo", if you want to employ a recurring unit of measure for
the external encoder (e.g. 0-360° for an external encoder of the "rotary" type).
● Modulo start value
In this field, define the position at which the modulo range should begin (e.g. 0° for an
external encoder of the "rotary" type).
● Modulo length
In this field, define the length of the modulo range (e.g. 360° for an external encoder of
the "rotary" type).

Configuring
6.7.2.1 Configuration - Encoder

The external encoder records the position of an externally controlled drive. The encoder
required for this purpose communicates the encoder position to the controller by means of a
PROFIdrive frame. In the "Encoder" configuration window, configure the encoder coupling
with which the encoder is to be connected.
Select encoder coupling:

In this area, select how the encoder will be connected in keeping with the graphic
representation.
● Connection via technology module (TM)
Select this option, if the encoder is connected to a technology module (TM).
– Technology module:
In the "Technology module" field, select a technology module that has already been
configured, and the channel to be used. Only technology modules set to the "Position
detection for motion control" mode are displayed for selection.
If no technology module is available for selection, change to the device configuration
and add a technology module. If you have selected a technology module, you can
change to the configuration of the technology module using the "Device configuration"
button.
You can operate the technology module centrally on an S7-1500 PLC, or distributed
on a distributed I/O. You can identify the technology modules suitable for position
detection for Motion Control in the documentation for the technology module and the
catalog data.
● Connection via PROFINET/PROFIBUS (PROFIdrive)
Select this option, if you are deploying a PROFIdrive compatible encoder.
– Encoder:
In the "Encoder" field, select a configured encoder on PROFINET/PROFIBUS. If an
encoder was selected, then it can be configured using the "Device configuration"
button.
Switch to the device configuration in the network view, and add an encoder, in the
event that no encoder can be selected.

Configuring
Configuration - Data exchange

In the "Data transmission" configuration window, configure the data transmission to the
encoder. The configuration varies according to the encoder coupling:
● Encoder to technology module (Page 149)
● Encoder to PROFINET/PROFIBUS (Page 151)
Encoder to technology module

Encoder message frame

In the drop-down list for the technology module, select the message frame that you have
configured in the technology module.
Encoder type

(Gn_XIST1).

value (Gn_XIST1).

Configuring

(Gn_XIST1).

Distance between two increments: In this field, you can configure the distance be-
tween two steps of the encoder.
(Gn_XIST1).

(Gn_XIST1).

See also
Encoder to PROFINET/PROFIBUS (Page 151)

Configuring
Encoder to PROFINET/PROFIBUS

Encoder message frame

Encoder type

value (GN_XIST1) resolution within the incremental actual value
(GN_XIST1).

value (GN_XIST1) for fine resolution within the incremental actual
value (GN_XIST1).
(GN_XIST2).

(GN_XIST1).
(GN_XIST2).

Configuring

(GN_XIST1).

(GN_XIST1).
(GN_XIST2).

See also
Encoder to technology module (Page 149)

Configuring
Configuration - Mechanics
Configure the encoder parameters for the position of the externally controlled drive in the
"Mechanics" configuration window.
The configuration varies according to the type of encoder:
● Linear (Page 153)
● Rotary (Page 154)
Linear
Measuring gearbox
● Consider measuring gearbox and leadscrew pitch for encoder evaluation
Deactivate the check box, if you want to perform the configuration based on the encoder
● Number of encoder revolutions / number of load revolutions
Position parameter
● Leadscrew pitch (select "Consider measuring gear and leadscrew pitch for encoder
evaluation")
● Load movement per motor revolution (select "Consider measuring gear and leadscrew
pitch for encoder evaluation")
In this field, configure the load distance for one motor revolution.
See also
Configuration - Mechanics (Page 153)
Rotary (Page 154)

Configuring
Rotary
Measuring gearbox
● Number of encoder revolutions / number of load revolutions
The gear ratio of the measuring gearbox is specified as the ratio between encoder
revolutions and load revolutions. Specify here an integral number of load revolutions and
the resulting number of encoder revolutions.
Position parameter
In this field, configure the value indicated by the external measuring system per encoder
revolution.
See also
Configuration - Mechanics (Page 153)
Linear (Page 153)

Configuring
6.7.3.2 Homing
Configuration - Homing
Configure the parameters for homing the external encoder in the "Homing" configuration
window. Homing is performed using the Motion Control instruction "MC_Home" Mode = 2, 8
and 10.
Note


Configuring
Homing direction
Select the direction in which the zero mark should be approached for homing. The next zero
mark after exiting the proximity switch is used.
● Positive
● Negative
● Current
Home position
Mode = 10.
Note
See also
Configuration - Homing (Page 155)
Zero mark via PROFIdrive frame (Page 157)
Homing mark via digital input (Page 158)

Configuring
Homing direction
Select the direction in which the next zero mark should be approached for homing. The
following options are available:
● Positive
● Negative
● Current
Home position
Mode = 10.
Note
See also
Zero mark via PROFIdrive frame and proximity switch (Page 156)
Homing mark via digital input (Page 158)

Configuring
Digital input, homing mark

In this dialog field, select a digital input which should act as a homing mark (reference cam).
Homing direction
● Positive
● Negative
● Current
Homing mark
Select which switch position of the "digital input" is to be used as homing mark.
Home position
Mode = 10.
Note

Configuring
6.8 Parameter view
See also
Zero mark via PROFIdrive frame (Page 157)
Zero mark via PROFIdrive frame and proximity switch (Page 156)
6.8 Parameter view
6.8.1 Introduction to the parameter view

The Parameter view provides you with a general overview of all relevant parameters of a
technology object. You obtain an overview of the parameter settings and can easily change
them in offline and online mode.
① Toolbar (Page 161)

② "Parameter view" tab
③ Parameter table (Page 162)
④ Navigation (Page 161)

Configuring
6.8 Parameter view
Function scope
The following functions are available for analyzing the parameters of the technology objects
and for enabling targeted monitoring and modification.
Display functions:
● Display of parameter values in offline and online mode
● Display of status information of the parameters
● Display of value deviations and option for direct correction
● Display of configuration errors
● Display of value changes as a result of parameter dependencies
● Display of all memory values of a parameter: Start value PLC, Start value project, Monitor
value
● Display of the parameter comparison of the memory values of a parameter
Operator control functions:
● Navigation for quickly changing between the parameters and parameter structures.
● Text filter for faster searches for particular parameters.
● Sorting function for customizing the order of parameters and parameter groups to
requirements.
● Memory function for backing up structural settings of the Parameter view.
● Monitoring and modifying of parameter values online.
● Function for saving a snapshot of parameter values of the CPU in order to capture
momentary situations and to respond to them.
● Function for applying a snapshot of parameter values as start values.
● Download of modified start values to the CPU.
● Comparison functions for comparing parameter values with one another.

Configuring
6.8 Parameter view
6.8.2 Structure of the parameter view
6.8.2.1 Toolbar
The following functions can be selected in the toolbar of the parameter view.
Symbol Function Explanation

Select navigation structure Toggle between function-based navigation and the view for the
data structure of the technology data block.
Couple the function view and Enables the targeted toggling between the parameter view for
parameter view for the ob- function-based view.
jects selected in the naviga-
tion
Collapse/expand all nodes Collapses or expands all nodes and objects of the navigation or
and objects the data structure in the currently active view.
Collapse/expand the nodes Collapses or expands all marked nodes and objects of the naviga-
below the marked nodes tion or the data structure in the currently active view.
Text filter... After entry of a character string: Display of all parameters contain-
ing the specified string in one of the currently visible columns.
Selection of compare values Selection of parameter values that are to be compared with one
another in online mode (Start value project, Start value PLC)
Only in online mode.
Save window settings Saves your display settings for the Parameter view (e.g., selected
navigation structure, activated table columns, etc.)
6.8.2.2 Navigation
Within the "Parameter view" tab, the following alternative navigation structures can be
selected.
Navigation Explanation
Functional navigation In the functional navigation, the structure of the parameters is
based on the structure in the configuration dialog ("Functional
view" tab), commissioning dialog, and diagnostics dialog.
Data structure In the data navigation navigation, the structure of the parameters
is based on the structure in the technology data block.
You can use the "Select navigation structure" drop-down list to toggle the navigation
structure.

Configuring
6.8 Parameter view
6.8.2.3 Parameter table

The table below shows the meaning of the individual columns of the parameter table. You
can show or hide the columns as required.
● Column "Offline" = X: Column is visible in offline mode.
● Column "Online" = X: Column is visible in online mode (online connection to the CPU).
Column Explanation Offline Online

Name in functional Name of the parameter in the functional view. X X
view The display field is empty for parameters that are not configured via the tech-
nology object.
Name in DB Name of the parameter in the technology data block. X X
If the parameter is part of a structure or UDT, the prefix ". ./" is added.
The display field is empty for parameters that are not contained in the technol-
ogy data block.
Full name in DB Complete path of the parameter in the instance DB. X X
ogy data block.
Status of configura- Display of the completeness of the configuration using status symbols. X
tion
Compare result Result of the "Compare values" function. X
This column is displayed when there is an online connection.
Start value project Configured start value in the project. X X
Error indication if entered values have a syntax or process-related error.
Default value Value that is pre-assigned to the parameter. X X
ogy data block.
Start value PLC Start value in the CPU. X
Monitor value Current value in the CPU. X
Modify value Value that is to be used to change the monitor valuet. X
Minimum value Minimum process-related value of the parameter. X X
If the minimum value is dependent on other parameters, it is defined:
• Offline: By the Start value project.
• Online: By the Monitor values.
Maximum value Maximum process-related value of the parameter. X X
If the maximum value is dependent on other parameters, it is defined:
• Offline: By the Start value project.
• Online: By the Monitor values.
Setpoint Designates the parameter as a setpoint. These parameters can be initialized X X
online.

Configuring
6.8 Parameter view
Column Explanation Offline Online

Data type Data type of the parameter. X X
ogy data block.
Retain Designates the value as a retentive value. X X
The values of retentive parameters are retained even after the voltage supply is
switched off.
Accessible from HMI Indicates whether the HMI can access this parameter during runtime. X X
Visible in HMI Indicates whether the parameter is visible in the selection list of the HMI by X X
default.
Comment Brief description of the parameter. X X
6.8.3 Opening the parameter view
Requirement
The technology object was added in the project navigator.
Procedure
1. Open the "Technology objects" folder in the project tree.
2. Open the technology object in the project tree.
3. Double-click the "Configuration" object.
4. Select the "Parameter view" tab in the top right corner.
Result
The Parameter view opens. Each displayed parameter is represented by one row in the
parameter table.
The displayable parameter properties (table columns) vary depending on whether you are
working with the Parameter view in offline or online mode.
In addition, you can selectively display and hide individual table columns.

Configuring
6.8 Parameter view
6.8.4 Working with the parameter view
6.8.4.1 Overview
The following table provides an overview of the functions of the Parameter view in online and
offline mode described in the following.
● Column "Offline" = X: This function is possible in offline mode.
● Column "Online" = X: This function is possible in online mode.
Function/action Offline Online

Filtering the parameter table (Page 164) X X
Sorting the parameter table (Page 165) X X
Transferring parameter data to other editors (Page 165) X X
Indicating errors (Page 166) X X
Editing start values in the project (Page 166) X X
Monitoring values online in the parameter view (Page 168) X
Modifying values (Page 169) X
Comparing values (Page 170) X
6.8.4.2 Filtering the parameter table

You can filter the parameters in the parameter table in the following ways:
● With the text filter
● With the subgroups of the navigation
Both filter methods can be used simultaneously.
With the text filter

Texts that are visible in the parameter table can be filtered. This means only texts in
displayed parameter rows and columns can be filtered.
1. Enter the desired character string for filtering in the “Text filter...” input box.
The parameter table displays only the parameters containing the character string.
The text filtering is reset.
● When another parameter group is selected in the navigation.
● When navigation is changed from data navigation to functional navigation, or vice versa.
With the subgroups of the navigation

1. Click the desired parameter group in the navigation, e.g., "Static".
The parameter table only shows the static parameters. You can select further subgroups
for some groups of the navigation.
2. Click “All parameters” in the navigation if all parameters are to be shown again.

Configuring
6.8 Parameter view
6.8.4.3 Sorting the parameter table

The values of the parameters are arranged in rows. The parameter table can be sorted by
any displayed column.
● In columns containing numerical values, sorting is based on the magnitude of the
numerical value.
● In text columns, sorting is alphabetical.
Sorting by column
1. Position the cursor in the header cell of the desired column.
The background of this cell turns blue.
2. Click the column header.
Result
The entire parameter table is sorted by the selected column. A triangle with tip facing up
appears in the column header.
Clicking the column header again changes the sorting as follows:
● Symbol “▲”: Parameter table is sorted in ascending order.
● Symbol “▼”: Parameter table is sorted in descending order.
● No symbol: The sorting is removed again. The parameter table assumes the default
display.
The “../“ prefix in the “Name in DB” column is ignored when sorting.
6.8.4.4 Transferring parameter data to other editors

You can paste parameters of the parameter view in the following editors:
● Program editor
● Watch table
● Signal table for Trace
The following options are available for pasting:
● Drag-and-drop
● <Ctrl+C>/<Ctrl+V>
● Copy/Paste via shortcut menu

Configuring
6.8 Parameter view
6.8.4.5 Indicating errors
Error indication
Parameter assignment errors that result in compilation errors (e.g., limit violation) are
indicated in the Parameter view.
Every time a value is entered in the Parameter view, a check is made for process-related
and syntax errors and displayed with the following indicators:
● Red error symbol in the "Status of configuration" (offline mode) or "Compare result"
(online mode, depending on the selected comparison type) columns
● Table field with red background
If you click the bad field, a roll-out error message appears with information of the
permissible value range or the required syntax (format)
Compilation error
From the error message of the compiler, you can directly open the Parameter view
(functional navigation) containing the parameter causing the error in situations where the
parameter is not displayed in the configuration dialog.
6.8.4.6 Editing start values in the project

With the Parameter view, you can edit the start values in the project in offline mode and
online mode.
● You make value changes in the “Start value project” column of the parameter table.
● In the “Status of configuration” column of the parameter table, the progress of the
configuration is indicated by the familiar status symbols from the configuration dialog of
the technology object.
Boundary conditions
● If other parameters depend on the parameter whose start value was changed, the start
value of the dependent parameters are also adapted.
● If a parameter of a technology object is not editable, it is also not editable in the
parameter view. The ability to edit a parameter can also depend on the values of other
parameters.

Configuring
6.8 Parameter view
Defining new start values

To define start values for parameters in the Parameter view, follow these steps:
1. Open the Parameter view of the technology object.
2. Enter the desired start values in the "Start value project" column. The value must match
the data type of the parameter and must not exceed the value range of the parameter.
The limits of the value range can be seen in the “Maximum value” and “Minimum value”
columns.
The "Status of configuration" column indicates the progress of the configuration with colored
symbols.
Following adaptation of the start values and downloading of the technology object to the
CPU, the parameters take the defined value at startup if they are not declared as retentive
(“Retain” column).
Error indication
When a start value is input, a check is made for process-related and syntax errors and the
result is indicated.
Bad start values are indicated by:
● Red error symbol in the "Status of configuration" (offline mode) or "Compare result"
(online mode, depending on the selected comparison type) columns
and/or
● Red background in the “Start value project” field
If you click on the bad field, a roll-out error message appears with information of the
permissible value range or the necessary syntax (format)
Correcting bad start values

1. Correct bad start values using information from the roll-out error message.
Red error symbol, red field background, and roll-out error message are no longer
displayed.
The project cannot be successfully compiled unless the start values are error-free.

Configuring
6.8 Parameter view
6.8.4.7 Monitoring values online in the parameter view

You can monitor the values currently taken by the parameters of the technology object in the
CPU (monitor values) directly in the Parameter view.
Requirements
● There is an online connection.
● The technology object is downloaded to the CPU.
● The Parameter view of the technology object is open.
Procedure
As soon as the Parameter view is online, the following columns are additionally displayed:
● Compare result
● Start value PLC
● Monitor value
● Modify value
● Selection for transmission
The "Monitor value" column shows the current parameter values on the CPU.
Display
All columns that are only available online have an orange background:
● Values in light-orange cells can be changed.
● Values in cells with a dark orange background cannot be changed.
See also
Parameter table (Page 162)

Configuring
6.8 Parameter view
6.8.4.8 Modifying values

With the Parameter view, you can modify values of the technology object in the CPU.
You can assign values to the parameter once (Modify value) and modify them immediately.
The modify request is executed as quickly as possible without reference to any particular
point in the user program.
DANGER
Danger when modifying:
Changing the parameter values while the plant is operating may result in severe damage to
property and personal injury in the event of malfunctions or program errors.
Make sure that dangerous states cannot occur before you use the "Modify" function.
Requirements
● The parameter can be modified (associated field in the "Modify value" column has a light-
orange background).
Procedure
To modify parameters immediately, follow these steps:
● Enter the desired modify values in the “Modify values” column of the parameter table.
The selected parameters are modified once and immediately with the specified values and
can be monitored in the "Modify values" column. The check boxes for modifying in the
"Selection for transmission" column are automatically cleared after the modify request is
complete.
Error indication
When a start value is input, a check is made immediately for process-related and syntax
errors and the result is indicated.
Bad start values are indicated by:
● Red background in the “Modify value” field
and
● If you click the bad field, a roll-out error message appears with information of the
permissible value range or the necessary syntax (format)

Configuring
6.8 Parameter view
Bad modify values

● Modify values with process-related errors can be transmitted.
● Modify values with syntax errors cannot be transmitted.
6.8.4.9 Comparing values

You can use comparison functions to compare the following memory values of a parameter:
● Start value project
● Start value PLC
Requirements
Procedure
To compare the start values on the various target systems, follow these steps:
1. Click the "Selection of compare values" icon .
A selection list containing the comparison options opens:
– Start value project - Start value PLC (default setting)
2. Select the desired comparison option.
The selected comparison option is executed as follows:
– A scales symbol appears in the header cells of the two columns selected for
comparison.
– Symbols are used in the "Compare result" column to indicate the result of the
comparison of the selected columns.

Configuring
6.8 Parameter view
Symbol in "Compare result" column
Symbol Meaning
The compare values are equal and error-free.
The compare values are not equal and error-free.
At least one of the two compare values has a process-related or syntax error.
The comparison cannot be performed. At least one of the two compare values is not available (e.g., snapshot).
Symbol in the navigation

The symbols are shown in the same way in the navigation if the comparison result applies to
at least one of the parameters below the displayed navigation structure.

Programming 7
7.1 Introduction
The "Programming" section contains general information on supplying and evaluating the
Motion Control instructions and on technology data blocks.
An overview of the Motion Control instructions can be found in the Functions (Page 20)
section.
You can transmit jobs to the technology object by means of Motion Control instructions in the
user program. You define the job using the input parameters of the Motion Control
instructions. The current job status is indicated in the output parameters.
The technology data block is available to you as an additional interface to the technology
object. Via your user program, you can access the technology data block's data.
7.2 Technology data block
7.2.1 Introduction
The properties of real objects are configured by means of the technology objects and saved
in a technology data block. The technology data block contains all configuration data,
setpoint and actual values, and status information of the technology object. The TIA Portal
automatically creates the technology data block when the technology object is created. You
access the data of the technology data block with your user program.
A listing and description of the tags can be found in the Appendix (Page 332).

Programming
7.2.2 Evaluating the technology data block
Description
Access to data in the technology data block occurs in accordance with the access to
standard data blocks.
Reading values from the technology data block

In your user program you can read actual values (e.g. current position) and status
information, or detect error messages in the technology object. When you program a query
in your user program (e.g. current velocity), the value is directly read from the technology
object.
Reading values from the technology data block takes longer than for other data blocks. If you
use these tags several times in a single cycle of your user program, it is recommended to
copy the tag values to local tags, and use the local tags in your program.
Writing values to the technology data block

The configuration of the technology object in the TIA Portal is used to write the
corresponding data to the technology data block. After they have been loaded into the CPU,
these data are stored in the CPU on the SIMATIC Memory Card (load memory).
● Required changes in the technology data block
In the following cases, it may be necessary for the user program to write values to the
technology data block:
– Adaptation of the configuration of the technology object (e.g. dynamic limits, software
limit switches)
– Use of overrides
– Adaptation of position control (e.g. "Kv" parameter)
● Effectiveness of changes in the technology data block
Changes to values in the technology data block by the user program can take effect at
various points in time. The relevant property of the individual tags can be found in their
descriptions in the Appendix (Page 332).
– Effective immediately:
LREAL data type
(e.g. <TO>.Override.Velocity)
Value changes take effect immediately when writing these tags. The technology object
performs a range check on the written value, and immediately starts using the new
value. If range limits are violated when writing, the technology object automatically
corrects the values. If the value is below the range, then the value is set to the lower
limit of the range; if the range is exceeded, then the value is set to the upper limit of
the range. You write changes using direct assignments. The changes are retained
until the next POWER OFF of the CPU or restart of the technology object.

Programming
DINT/BOOL data types

(e.g. <TO>.Senso[n].ActiveHoming.Direction)
Changes are only permitted in the defined value range. Value changes outside the
value range are not applied. If you enter invalid values, the programming error OB
(OB 121) is started. You write changes using direct assignments. The changes are
retained until the next POWER OFF of the CPU or restart of the technology object.
– Effective after restart:
(e.g. <TO>.Homing.AutoReversal)
Since restart-relevant tags have dependencies on other tags, value changes cannot
be applied at any arbitrary time. The changes are only used after reinitialization
(restart) of the technology object. During a restart the technology object is reinitialized
with the data in load memory. You therefore write changes to the starting value in load
memory, using the extended instruction "WRIT_DBL" (write to data block in load
memory).
You trigger the restart in your user program using the Motion Control instruction
"MC_Reset" with parameter "Restart" = TRUE. Additional information on a restart can
be found in the Restarting Technology Objects (Page 197) section.
Note
Save changes with "WRIT_DBL"
Changes to immediately effective tags are lost on POWER OFF of the CPU, or restart of the
technology object.
If changes in the technology data block should also be retained after POWER OFF of the
CPU, or restart of the technology object, you must write the changes to the starting value in
load memory using the extended instruction "WRIT_DBL".
Note
Using the "READ_DBL" and "WRIT_DBL" data block functions
The "READ_DBL" and "WRIT_DBL" data block functions can only be used on a single tag in
conjunction with the tags of the technology object. The "READ_DBL" and "WRIT_DBL" data
block functions cannot be applied to data structures of the technology object.
Evaluation of data in the isochronous interrupt OB

If you want to write the technology data block's data isochronously from a Motion Control
application cycle, there is the option of evaluating these data in the isochronous interrupt OB.
The MC-Servo [OB91] is called synchronously with a bus system.
Assign the same bus cycle (Page 78) to the isochronous interrupt OB as to the MC_Servo
[OB91]. By this means, the isochronous interrupt OB is called in each Motion Control
application cycle.
In the isochronous interrupt OB, read the necessary data into global tags. Use these global
tags for further programming.

Programming
7.2.3 Evaluate StatusWord, ErrorWord and WarningWord

To be able to use individual status and error information from the "StatusWord", "ErrorWord"
and "WarningWord" data double words, the evaluation can be performed as described
below. For consistent evaluation, you should avoid using bit addressing to access these data
double words in the technology data block. Access to an individual bit in the technology data
block only lasts as long as the access to the entire data word.
When required, copy the required data double word into a tag of a data structure and query
the individual bits of the tag.
A description of the data double words and the allocation of the individual bits can be found
in the Appendix:
● StatusWord (Page 351)
● ErrorWord (Page 353)
● WarningWord (Page 356)
Requirements
The technology object has been created.
Procedure
To evaluate the individual bits in the data word "StatusWord", proceed as follows:
1. Crate a global data structure. Name the data structure, e.g. as "Status".
2. Create a double word (DWORD) in the data structure "Status". Name the data structure,
e.g. as "Temp".
3. Create 32 Boolean tags in the "Status" data structure. You can obtain a clearer overview
by naming Booleanhe Boolean tags as defined for the bits in the technology DB
(e.g. name the fifth Boolean tag "HomingDone").
4. Copy the tag <TO>.StatusWord as needed from the technology data block to the double
word "Temp" in your data structure.
5. Copy the bits of dword "Temp" to the corresponding Boolean tags by means of bit
access.
6. Use the Boolean tags to query the status bits.
Evaluate the "ErrorWord" and "WarningWord" data words as specified in steps 1 to 6.

Programming
Example
The following example shows how you can read and save the fifth bit "HomingDone" of the
data word "StatusWord":
SCL
Status.Temp := <TO>.StatusWord; Copy status
word
Status.HomingDone := Status.Temp.X5; Copy individual
bits per bit
access
STL
L <TO>.StatusWord Copy status
word
T Status.Temp
U Status.Temp.X5 Copy individual
bits per bit
access
= Status.HomingDone

Programming
7.2.4 Change restart-relevant data

In order to change restart-relevant data in the technology data block, write to the starting
values of the tags in load memory using the extended instruction "WRIT_DBL". In order for
the changes to be applied, a restart of the technology object must be performed.
Whether changes to the value of a tag are relevant for the restart can be found in the
description of the tags in the Appendix (Page 332).
Requirement
The technology object has been created.
Procedure
To change restart-relevant data, proceed as follows:
1. Create a data block and fill it with the restart-relevant values, that you want to change in
the technology data block. In doing so, the data types must match the tags to be
changed.
2. Write the values from your data block to the starting values of the tags of the technology
data block in load memory, using the extended instruction "WRIT_DBL".
If restart-relevant data were changed, this will be indicated in the <TO>.StatusWord.X3
(OnlineStartValuesChanged) tag of the technology object.
3. Perform a restart of the technology object using the Motion Control instruction
"MC_Reset" with parameter "Restart" = TRUE.
After the restart of the technology object, the new value is transferred into the technology
data block in work memory, and is effective.

Programming
7.3 Motion Control instructions
7.3.1 Motion Control instruction parameters
Description
When creating your user program, take account of the following explanations of the Motion
Control instruction parameters.
Reference to the technology object

The specification of the technology object to the Motion Control instruction occurs as follows:
● "Axis" parameter
In the "Axis" input parameter of a Motion Control instruction, a reference to the
technology object is specified, which the corresponding job should use.
Job start and receipt of the input parameters of a Motion Control instruction
When jobs are started, and when changed parameter values are received, a distinction is
made between the following Motion Control instructions:
● Motion Control instructions with "Execute" parameter
With a rising edge at the "Execute" parameter, the job is started and the values pending
in the input parameters are applied.
Subsequently changed parameter values are not applied until the next job start.
Resetting the "Execute" parameter does not end the job, but does have an effect on the
indication duration of the job status. As long as "Execute" is set to TRUE, the output
parameters will be updated. If "Execute" is reset before the completion of a job, the
parameters "Done", "Error" and "CommandAborted" are correspondingly set for only one
call cycle.
● Motion Control instructions with "Enable" parameter
The job is started by setting the "Enable" parameter.
As long as "Enable" = TRUE. the job remains enabled and changed parameter values are
immediately applied.
The job is ended by resetting the "Enable" parameter.
The input parameters "JogForward" and "JogBackward" of the "MC_MoveJog" Motion
Control instruction correspond in their behavior to the "Enable" parameter.

Programming
Job status
The following output parameters indicate the status of the job processing:
● Motion Control instructions with "Done" parameter
The normal completion of a job is indicated with parameter "Done" = TRUE.
● Motion Control instructions without "Done" parameter
The achievement of the job target is indicated by means of other parameters
(e.g. "Status", "InVelocity"). For more information, refer to the section "Tracking running
jobs (Page 184).
● "Busy" parameter
As long as a job is being processed, the parameter "Busy" shows the value TRUE. If a
job was ended or aborted, "Busy" shows the value FALSE.
● "CommandAborted" parameter
If a job was aborted by another job, CommandAborted shows the value "TRUE".
● "Error" parameter
If an error occurs in the Motion Control instruction, the "Error" parameter shows the value
TRUE. The ErrorID parameter shows the cause of the error.
As long as the "Execute" or "Enable" parameter is set to TRUE, the output parameters will
be updated. Otherwise the parameters "Done", "Error" and CommandAborted" are
correspondingly only set for one cycle.
Termination of active jobs

A running Motion Control job is terminated by the initiation of a new Motion Control job. In
the process, the current dynamic setpoints (acceleration, deceleration, jerk, velocity) are set
to the values of the overriding job.

Programming
Example of parameter behavior

The behavior of the parameters of Motion Control instructions is shown by way of the
example of two "MC_MoveAbsolute" jobs.
Using "Exe_1", an "MC_MoveAbsolute" job (A1) with target position 1000.0 is initiated.
"Busy_1" is set to TRUE. The axis is accelerated to the specified velocity and moved to the
target position (see TO_1.Velocity and TO_1.Position). Before the target position is reached,
the job is overridden at time ① by another "MC_MoveAbsolute" job (A2). The abort is
signaled via "Abort_1", and "Busy_1" is set to FALSE. The axis is braked to the velocity
specified in A2, and moved to the new target position 1500.0. When the axis reaches the
target position, this is signaled via "Done_2".

Programming
7.3.2 Add Motion Control instructions

You add Motion Control instructions to a program block in the same way as other
instructions. You control all available functions of the technology object using the Motion
Control instructions.
Requirements
The technology object was created.
Procedure
To add Motion Control instructions in your user program, proceed as follows:
1. Double click your program block in the Project Navigator (the program block must be
called in the cyclical program).
The program block is opened in the programming editor, and the available instructions
are displayed.
2. In the "Instructions" task card, open the "Technology > Motion Control > S7-1500 Motion
Control" folder.
3. Drag and drop the Motion Control instruction, e.g. "MC_Power", into the desired segment
of the program block.
The "Call options" dialog opens.
4. In the dialog, specify a name and a number for the instance data block of the Motion
Control instruction.
5. Click "OK".
The Motion Control instruction "MC_Power" is added to the segment.
The instance data block is automatically created under "Program Blocks > System Blocks
> Program Resources".

Programming
6. Input parameters without a default value (e.g. "Axis"), must be supplied. Mark the
technology object in the Project Navigator, and drag and drop it to <...> in the "Axis"
parameter.
After specifying the technology object in the "Axis" parameter, the following buttons are
available to you:
To open the configuration of the technology object, click on the toolbox icon.
To open the diagnostics of the technology object, click on the stethoscope icon.
7. Add additional Motion Control instructions in accordance with steps 3 through 6.
See also
Tracking active jobs (Page 184)
Tags of the positioning axis/synchronous axis technology object (Page 332)

Programming
7.4 Starting Motion Control jobs
7.4 Starting Motion Control jobs
Description
Motion Control jobs are started by setting the "Execute" or "Enable" parameter of the Motion
Control instruction. The call of the Motion Control instructions for a technology object should
occur in an execution level.
When executing Motion Control jobs, you should also take note of the status of the
technology object.
Starting Motion Control jobs should be performed in the following steps:
1. Query the status of the technology object.
2. Initiate new job for the technology object.
3. Check job status.
These steps are explained using the example of a job for absolute positioning.
1. Query the status of the technology object

Make sure that the technology object is in the appropriate status to perform the desired job:
● Has the technology object been released?
To execute motion jobs, the technology object must be enabled.
Enabling is performed using the Motion Control instruction "MC_Power".
The "MC_Power.Status" parameter must show the value TRUE.
● Is a technology alarm pending?
To perform motion jobs, no technology alarms may be pending. After resolving the error,
acknowledge any possibly pending alarms using the Motion Control instruction
"MC_Reset".
A list of the technology alarms and alarm reactions can be found in the appendix,
Technology Alarms (Page 368).
● Has the technology object been homed?
In order to perform a job for absolute positioning, the positioning axis/synchronous axis
technology object must be homed. The referencing occurs via the Motion Control
instruction "MC_Home". The "<TO>.StatusWord.X5 (HomingDone) " tag of the
technology object must show the value TRUE .
2. Initiate new job for the technology object

Initiate a new job.
In the "Position" parameter of the "MC_MoveAbsolute" instruction, specify the position to
which the axis should be moved. Start the job with a positive edge at the "Execute"
parameter.

Programming
7.5 Tracking active jobs
3. Check job status

Parameter "Done" of the Motion Control instruction indicates successful completion of a job
(target reached, in this case).
If an error is detected, the "Error" parameter of the Motion Control instruction is set to TRUE,
and the job is rejected.
You can program an error handling routine for the Motion Control job. For this purpose,
evaluate the error indicated in the "Error" parameter. The cause of the error is indicated in
the ErrorID parameter. After resolving the cause of the error, restart the job.
Output of the "Error" = TRUE and "ErrorID" = 16#8001 status information during job
processing indicates that a technology alarm was triggered.
A list of the ErrorIDs can be found in the appendix, Error Detection (Page 386).
Additional information
An option for the evaluation of the individual status bits, error bits, and warning bits can be
found in the Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section.
7.5.1 Introduction
The current status of the job processing is made available via the output parameters of the
Motion Control instruction. These parameters are updated with each call of the Motion
Control instruction.
When tracking jobs, a distinction is made between three groups:
● Motion Control instructions with "Done" parameter (Page 185)
● Motion Control instructions without "Done" parameter (Page 189)
● Motion Control instruction "MC_MoveJog" (Page 193)

Programming
7.5.2 Motion Control instructions with "Done" parameter
Description
Jobs for Motion Control instructions with the "Done" parameter are started with a positive
edge at the "Execute" parameter. If the job was completed without errors and without
interruption by another job (e.g. "MC_ MoveAbsolute": target position reached), then the
"Done" parameter shows the value TRUE.
The following Motion Control instructions have a "Done" parameter:
● MC_Home
● MC_MoveRelative
● MC_MoveAbsolute
● MC_MoveSuperimposed
● MC_Halt
● MC_Reset

Programming
The behavior of the parameters is presented by way of example for various situations:
Complete execution of job

If the Motion Control job has been fully processed to the point of completion, then this is
indicated in the "Done" parameter with the value TRUE. The signal status of the "Execute"
parameter influences the indication duration in the "Done" parameter:
You set "Execute" after completion of the job to FALSE. You set "Execute" during processing of the job to FALSE.
① The job is started with a positive edge at the "Execute" parameter. Depending on the program, "Execute" can be reset
to the FALSE value while the job is still busy, or retain the TRUE value until the job has been completed.
② While the job is active, the "Busy" parameter shows the value TRUE.
③ When the job is complete (for example, for Motion Control instruction "MC_MoveAbsolute": target position reached)
the "Busy" parameter changes to FALSE, and the "Done" parameter to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after completion of the job, the "Done" parameter also
retains the value TRUE.
⑤ If the "Execute" parameter has been set to FALSE before the job is complete, then the "Done" parameter only shows
the value TRUE for one execution cycle.

Programming
Job termination
If the Motion Control job is aborted during processing by another job, then this is indicated in
the "CommandAborted" parameter with the value TRUE. The signal status of the "Execute"
parameter influences the indication duration in the "CommandAborted" parameter:
You set "Execute" after the job is aborted to FALSE. You set "Execute" before the job is aborted to FALSE.
② While the job is active, the parameter "Busy" shows the value TRUE.
③ During job execution, the job is aborted by another Motion Control job. When the job is aborted, the "Busy" parameter
changes to "FALSE" and "CommandAborted" changes to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after completion of the job, the "CommandAborted" pa-
rameter also retains the value TRUE.
⑤ If the "Execute" parameter has been set to FALSE before the job is aborted, then the "CommandAborted" parameter
only shows the value TRUE for one execution cycle.

Programming
Error during job execution

If an error occurs during execution of the Motion Control job, then this is indicated in the
"Error" parameter with the value TRUE. The signal status of the "Execute" parameter
influences the indication duration in the "Error" parameter:
You set "Execute" after the occurrence of the error to You set "Execute" before the occurrence of the error to
FALSE. FALSE.
③ An error occurs during the execution of the job. When the error occurs, the "Busy" parameter changes to FALSE, and
the "Error" parameter to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after the occurrence of the error, the "Error" parameter
also retains the value TRUE.
⑤ If the "Execute" parameter has been set to FALSE before the occurrence of the error, then the "Error" parameter only
shows the value TRUE for one execution cycle.

Programming
7.5.3 Motion Control instructions without "Done" parameter
Description
Motion Control instructions without the "Done" parameter use a special parameter to achieve
the job target (e.g. "InVelocity", "InGear"). The target state or the movement is paused until
the job is canceled or an error occurs.
The following Motion Control instructions have a special parameter to display the job status:
● MC_Power ( parameter "Status")
● MC_MoveVelocity (parameter "InVeloctity")
● MC_GearIn (parameter "InGear")
● MC_MoveJog (parameter "InVelocity")
The special behavior of "MC_MoveJog" is described in the section Motion Control
Instruction MC_MoveJog (Page 193).
The behavior of the parameter is shown for various situations using the Motion Control
instruction "MC_MoveVelocity" as an example:
Example "MC_MoveVelocity"
An "MC_MoveVelocity" job is started with a positive edge at the "Execute" parameter. The
job objective is fulfilled when the assigned velocity is reached and the axis travels at
constant velocity. When the assigned velocity is reached and maintained, this is indicated in
the "InVelocity" parameter with the value TRUE.
The motion of the axis can, for example, be stopped with an "MC_Halt" job.

Programming
The assigned velocity is reached and maintained

The achievement of the assigned velocity is indicated in the "InVelocity" parameter with the
value TRUE. The "Execute" has no effect on the indication duration in the "InVelocity"
parameter.
to the FALSE value before or after the parameterized velocity has been reached. While the job is active, the parame-
ter "Busy" shows the value TRUE.
② When the assigned velocity is reached, the "InVelocity" parameter changes to TRUE. The "Busy" and "InVelocity"
parameters retain the TRUE value until a different Motion Control job overrides the "MC_MoveVelocity" job.

Programming
The job is aborted prior to reaching the assigned velocity

If the Motion Control job is aborted by another job before reaching the assigned velocity,
then this is indicated in the "CommandAborted" parameter with the value TRUE. The signal
status of the "Execute" parameter influences the indication duration in the
"CommandAborted" parameter.
You set "Execute" after the job is aborted to FALSE. You set "Execute" before the job is aborted to FALSE.
to the FALSE value while the job is still busy, or retain the TRUE value until the job is aborted.
④ As long as the "Execute" parameter retains the value TRUE after completion of the job, the "CommandAborted" pa-
rameter also retains the value TRUE.
⑤ If the "Execute" parameter has been set to FALSE before the job is aborted, then the "CommandAborted" parameter
only shows the value TRUE for one execution cycle.

Programming
An error has occurred prior to reaching the assigned velocity

If an error occurs during execution of the Motion Control job before the assigned velocity has
been reached, this is indicated in the "Error" parameter with the value TRUE. The signal
status of the "Execute" parameter influences the indication duration in the "Error" parameter.
You set "Execute" after the occurrence of the error to You set "Execute" before the occurrence of the error to
FALSE. FALSE.
to the FALSE value while the job is still busy, or retain the TRUE value until the error has occurred.
③ An error occurs during the execution of the job. When the error occurs, the "Busy" parameter changes to FALSE, and
the "Error" parameter to TRUE.
④ As long as the "Execute" parameter retains the value TRUE after completion of the job, the "Error" parameter also
retains the value TRUE.
⑤ If the "Execute" parameter has been set to FALSE before the job is aborted, then the "Error" parameter only shows
the value TRUE for one execution cycle.

Programming
7.5.4 Motion Control instruction "MC_MoveJog"
Description
An "MC_MoveJog" job is started by setting the "JogForward" or "JogBackward" parameter.
The job objective is fulfilled when the assigned velocity is reached and the axis travels at
constant velocity. When the assigned velocity is reached and maintained, this is indicated in
the "InVelocity" parameter with the value TRUE.
The job is complete when the "JogForward" or "JogBackward" parameter has been set to the
value FALSE and the axis has come to a standstill.
The behavior of the parameters is presented below for various example situations:
The assigned velocity is reached and maintained

If the Motion Control job has been performed up to the point of reaching the assigned
velocity, then this is indicated in the "InVelocity" parameter with the value TRUE.
Jog mode is controlled by the "JogForward" parameter. Jog mode is controlled by the "JogBackward" parameter.
① The job is started by setting the "JogForward" or "JogBackward" parameter.
③ When the assigned velocity is reached, the "InVelocity" parameter changes to TRUE.
④ When the "JogForward" or "JogBackward" parameter is reset, the motion of the axis ends. The axis decelerates. The
"InVelocity" parameter changes to FALSE.
⑤ If the axis has come to a standstill, then the Motion Control job is complete and the "Busy" parameter changes to
FALSE.

Programming
The job is aborted during execution

If the Motion Control job is aborted during processing by another job, then this is indicated in
the "CommandAborted" parameter with the value TRUE. The behavior of the
"CommandAborted" parameter is independent of reaching the assigned velocity.
② While the job is processing, the "Busy" parameter shows the value TRUE.
④ When the "JogForward" or "JogBackward" parameter is reset, the "CommandAborted" parameter likewise changes to
FALSE.

Programming
An error occurs during the execution of the job

If an error occurs during execution of the Motion Control job, this is indicated in the "Error"
parameter with the value TRUE. The behavior of the "Error" parameter is independent of
reaching the assigned velocity.
③ An error occurs during the execution of the job. When the error occurs, the "Busy" parameter changes to "FALSE",
and "Error" changes to TRUE.
④ When the "JogForward" or "JogBackward" is reset to the value FALSE, the "Error" parameter likewise changes to
FALSE.

Programming
7.6 Ending Motion Control jobs
7.6 Ending Motion Control jobs

When ending a job, a distinction is made between error-free completion of the job, and the
termination of a motion.
Completion of the job

The completion of a Motion Control job is indicated as described in the Tracking running jobs
(Page 184) section.
Termination of a motion
If a motion must be aborted, you can perform the following measures:
● "Execute MC_Halt (Page 275)"
To abort a motion and stop the axis, you can use the "MC_Halt" instruction.
● "Disable MC_Power (Page 234)"
In an emergency, you can stop the axis using an emergency stop ramp. For this purpose,
set the "Enable" parameter of the "MC_Power" instruction to FALSE. The axis is
decelerated according to the selected "StopMode" and all jobs at the technology object
are aborted.

Programming
7.7 Restart of technology objects
7.7 Restart of technology objects
Description
After the CPU is switched on, or after technology objects are downloaded into the CPU, the
system automatically initializes the technology objects with the start values from the
technology data blocks. If restart-relevant changes are detected during a reload into the
CPU, a restart of the technology object is automatically performed.
If restart-relevant data have been changed in RUN mode by the user program, then the
technology object must be reinitialized by the user in order for the changes to be used.
If changes in the technology data block should also be retained after the restart of the
technology object, then you must write the changes to the start value in load memory using
the extended instruction "WRIT_DBL".
Restart necessary
A necessary TO restart is indicated at "Technology object > Diagnostics > Status and error
bits > Axis status or Encoder status > Online start value changed", as well as in the tag of
technology object <TO>.StatusWord.X3 (OnlineStartValuesChanged).
Restarting a technology object

A restart of the technology object is triggered by the user by means of the "MC_Reset"
Motion Control instruction, with parameter "Restart" = TRUE.
During a restart, all configuration data of the technology object are loaded from load memory
into work memory. In the process, the actual values in the technology data block are
overwritten.
Note the following during a restart of the technology object:
● A restart resets the "Referenced" status of a technology object with incremental actual
values (<TO>.StatusWord.X5 (HomingDone).
● While a restart is being performed, the technology object cannot perform any jobs. An
active restart will be indicated under "Technology object > Diagnostics > Status and error
bits > Axis status or Encoder status > Restart active", and in the <TO>.StatusWord.X2
(RestartActive) tag of the technology object.
● Motion Control jobs are rejected during a restart with the "Error" = TRUE and
"ErrorID" = 16#800D parameters (job not executable, because a restart is active).
● While a restart is being executed, you cannot access the technology data block.
See also
Change restart-relevant data (Page 177)

Downloading to CPU 8
Description
When downloading to the CPU S7-1500, it is always verified that the project files are
consistent online and offline after the download.
The data of the technology objects are saved in technology data blocks. The conditions for
downloading blocks thus apply when loading new or modified technology objects.
Load in RUN mode

When loading in the CPU's RUN mode, it is checked whether a load without restart of the
technology objects is possible.
If restart-relevant configuration values were changed, then a restart of the technology object
is automatically performed after the load into the CPU.
Loading a technology object is only possible if the technology object is disabled.
You cannot download the following changes to the CPU in RUN mode:
● Changes to the MC-Servo clock speeds
● Changes to the hardware interface of the technology object in "Technology object >
Configuration > Hardware interface"

Commissioning 9
9.1 Introduction
The following guidelines describe the steps that you should note when commissioning the
Motion Control-specific components of your equipment.
The commissioning of other components of your automation system depends on the
particular equipment configuration. Commissioning (not Motion Control) is described in the
Automation System S7-1500
(http://support.automation.siemens.com/WW/view/en/59191792) system manual.
9.2 Commissioning guidelines

These guidelines serve as recommendations for commissioning equipment with Motion
Control. The procedure is described using the example of a positioning axis technology
object.
Requirement
● The configuration of the following components is complete:
– CPU
– BUS communication
– Drives
– Technology objects
● The user program has been created.
● The wiring of the CPU and of the associated I/O is complete.
● The commissioning and optimization of the drive is complete.

Commissioning
Procedure
Proceed as follows to commission the Motion Control-specific components of your
equipment:
Step Action to be performed Supported by TIA Portal

Turn on CPU Turn on the power supply and the CPU. -
"Disable" position con- Set the gain (Kv factor) of the position control loop to zero. "Technology object > Configu-
troller (This setting avoids unwanted drive movements that may be ration > Extended parameters >
caused by incorrect parameterization of the position control Control loop"
loop.)
Load project into the Bring the CPU to the STOP mode. • "Toolbar > Stop CPU"
CPU Download your project to the CPU (load hardware and soft- • "Toolbar > Download to
ware). device"
Create online connec- Select the "Receive messages" check box under "Online & • Device configuration
tion to the CPU Diagnostics > Online Access".
• "Online & Diagnostics >
Configure the interface of the TIA Portal, and create an online Online Access"
connection with the CPU.
Disable Motion Control In order to avoid conflicts with the axis control panel, lock the • PLC programming
specific user program enabling of technology objects in your user program
• Motion Control instructions
(MC_Power.Enable = FALSE).
Evaluating pending Evaluate the message display in the inspector window. Re- "Inspector window > Diagnos-
messages solve the causes of pending technology alarms. Acknowledge tics > Message display"
the technology alarms (Page 215).
Check hardware limit Click the hardware limit switches. Check for correct message "Inspector window > Diagnos-
switches display (technology alarm 531). Acknowledge the technology tics > Message display"
alarm.
Check the connection Bring the CPU into the RUN mode. "Technology object > Commis-
and configuration of the Open the Axis control panel (Page 202) and take over control. sioning > Axis control panel"
drive (setpoint)
Perform the following steps:
• Enable the technology object.
⇒ The drive must turn itself on, and where applicable re-
lease the brake. The position is held.
• Move the axis in jog mode at low velocity in the positive
direction.
⇒ The drive must move. The actual position value must in-
crease (positive direction).
• Disable the technology object.
⇒ The drive must turn itself off, and where applicable apply
the brake.
Check the connection Check the scaling of the actual values (rotation direction, dis- • "Technology object > Diag-
and configuration of the tance evaluation, and resolution of the encoder) nostics > PROFIdrive
encoder (actual value) ⇒ The change in the actual mechanical position must match frame"
the change in the actual values.
• "Technology object > Com-
missioning > Axis control
panel"

Commissioning
Step Action to be performed Supported by TIA Portal

Checking the reference Traverse the axis in jog mode at low velocity in the positive • "Technology object > Hard-
speed direction. ware interface > Data ex-
⇒ The displayed current velocity must match the velocity set- change"
point.
• "Technology object > Com-
If the displayed current velocity deviates significantly from the missioning > Axis control
velocity setpoint, adjust the reference speed. panel"
Optimize position con- Use the Optimization (Page 207) commissioning function to "Technology object > Commis-
troller optimize the gain (Kv) of the position control loop. sioning > Optimization"
For this purpose, adapt following error limits as needed.
Transfer the gain Kv to Enter the gain Kv that you determined by means of the optimi- "Technology object > Configu-
the project. zation function in your configuration data. Load your project ration > Extended parameters >
into the CPU. Control loop"
Enable Motion Control Unlock the enabling technology objects lock in your user pro- • PLC programming
specific user program gram (MC_Power.Enable = TRUE).
• Motion Control instructions
Check the functioning Check the programmed functions of your user program. • Watch and force tables
of the user program
• Online and diagnostic func-
tions
End of commissioning To commission additional technology objects, perform the See above.
for a positioning axis corresponding steps again.
technology object

Commissioning
9.3 Axis control panel
9.3.1 Function and structure of the axis control panel
Description
You traverse individual axes with the axis control panel.
A user program is necessary for the operation of the axis control panel. With the axis control
panel, you take over master control for a technology object and control the movements of the
axis.
WARNING
Uncontrolled axis motions
During operation with the axis control panel, the axis can execute uncontrolled motions
(e.g. due to erroneous configuration of the drive, or of the technology object). Furthermore,
any synchronized following axis is moved as well when moving a leading axis with the axis
control panel.
Therefore, perform the following protective measures before operation with the axis control
panel:
• Ensure that the EMERGENCY OFF switch is within the reach of the operator.
• Enable the hardware limit switches.
• Enable the software limit switches.
• Ensure that following error monitoring is enabled.
• Make sure that no following axis is coupled to the axis to be moved.
The axis control panel of the speed axis, positioning axis and synchronous axis can be found
in the Project Navigator under "Technology object > Commissioning".
The axis control panel is divided into the following areas:
● Master control
● Axis
● Operating mode
● Modify
● Axis status
● Current values

Commissioning
The following table lists the elements of the axis control panel:
Area Element Description

Master control In the "Master control" area, you take over master control of the technology object, or
return it to your user program.
"Activate" button With the "Activate" button, you set up an online connection to the CPU and take over
master control for the selected technology object.
• To take over master control, the technology object must be disabled in the user
program.
• Any synchronized following axis is moved as well when moving a leading axis
with the axis control panel.
• If the online connection to the CPU is lost during operation with the axis control
panel, then after the sign of life monitoring has elapsed, the axis will be stopped
with maximum deceleration. In this case, an error message is displayed ("ErrorID"
= 16#8013) and the master control is passed back to the user program.
• When you click the "Fetch" button, a warning message is displayed. In the warn-
ing, you can adapt the sign-of-life monitoring (100 to 60000 ms).
If the master control of the axis control panel is lost repeatedly without a direct er-
ror message, the online connection to the CPU may be impaired because the
communication load is too high. In this case, the alarm "Error during commission-
ing. Sign-of-life failure between controller and TIA Portal" is displayed.
To eliminate this error, adapt the sign-of-life monitoring in the warning.

• Until master control is returned, the user program has no influence on the func-
tions of the technology object. Motion Control jobs from the user program to the
technology object are rejected with the error ("ErrorID" = 16#8012: axis control
panel enabled).
• When master control is taken over, the configuration of the technology object is
adopted. Changes to the configuration of the technology object do not become ef-
fective until master control has been returned. For this reason, make any neces-
sary changes before master control is taken over.
• If master control has been taken over for the technology object, the axis control
panel is blocked for access by another installation of the TIA Portal (Team Engi-
neering as of CPU V1.5).
"Deactivate" With the "Deactivate" button, you return master control to your user program.
button
Axis In the "Axis" area, enable or disable the technology object.
"Enable" button With the "Enable" button, you enable the selected technology object
"Disable" button With the "Disable" button, you disable the selected technology object
Operating mode Select the required mode in the "Operating mode" drop-down list.

Commissioning

Modify The "Control" area displays the parameters for traversing with the axis control panel
according to the selected operating mode.
Position Position to which the axis is homed.
(Homing and set home position modes only)
Distance Distance the axis is traversed.
(Relative positioning mode only)
Target position Position to which the axis is traversed.
(Absolute positioning mode only)
Velocity/ Velocity or speed at which the axis is traversed.
Velocity setpoint Default: 10% of the default value
(Velocity specification/Default speed, Jog and Positioning modes only)
Acceleration Acceleration with which the axis is traversed.
Default: 10% of the default value
Deceleration Deceleration with which the axis is traversed.
Default: 10% of the default value
Jerk Jerk with which the axis is traversed.
Default: 100% of default value
"Start" button With the "Start" button, you start a job according to the selected operating mode.
"Forward" button With the "Forward" button, you start a motion in the positive direction according to the
selected operating mode.
"Backward" With the "Backward" button, you start a motion in the negative direction according to
button the selected operating mode.
"Stop" button With the "Stop" button, you cancel a job or stop the axis.
Axis status The "Axis status" area displays the status of the axis and the status of the drive.
Drive ready The drive is ready to execute setpoints.
Error An error has occurred at the technology object.
Enabled The technology object is enabled. The axis can be controlled with Motion Control
instructions.
Homed The technology object is homed.
More With the "More" link, you display the "Technology object > Diagnostics > Status and
error bits" dialog.
Active errors The error that occurred most recently is displayed in the "Active errors" text box.
"Confirm" button With the "Confirm" button, you acknowledge pending errors.
Current values The "Current values" area shows the actual values of the axis.
Position Actual position of the axis
Velocity Actual velocity of the axis
Note
No transfer of the parameters
The configured parameter values are discarded when master control is returned. Transfer
the values as needed into your configuration.
If you change configuration values with the axis control panel during operation, they have no
effect on the operation of the axis control panel.

Commissioning
Operating mode
The following table shows the operating modes of the axis control panel:
Operating mode Description

Homing This function corresponds to active homing. The parameters for homing (Page 39) must be con-
figured.
Homing is not possible with an absolute encoder. The technology object is not referenced when
this mode is used with an absolute encoder.
Set home position This function corresponds to direct homing (absolute).
With the "Start" button, you set the actual position to the value specified in "Position" and the
"Homed" status is set.
Jog Motion commands occur by means of jogging.
With the "Forward" or "Backward" button you start motion in the positive or negative direction. The
motion runs for as long as you hold down the left mouse button.
Velocity specifica- The axis is moved at the specified velocity or speed until you stop the movement.
tion/speed setpoint The motion commands are performed according to the setpoints assigned under "Controller".
Positioning relative The positioning is executed as a controlled, relative traversing motion according to the defaults
assigned under "Controller".
Positioning absolute The positioning is executed as a controlled, absolute traversing motion according to the defaults
assigned under "Controller".
If you have enabled the "Modulo" setting of the technology object, the buttons "Forward" and
"Backward" are shown in the "Controller" area. The axis is positioned within the modulo range.
Position settings outside the modular range are recalculated to the modulo range.
If you have not enabled the "Modulo" setting of the technology object, only the "Start" button is
shown in the "Controller" area. You can directly approach the entered position.

Commissioning
9.3.2 Using the axis control panel
Requirement
● The CPU must be in RUN mode.
● The project has been created and downloaded to the CPU.
● The technology object is disabled by your user program (MC_Power.Enable = FALSE).
● The axis control panel for the technology object is not used by another installation of the
TIA Portal (Team Engineering as of CPU V1.5).
Procedure
Proceed as follows to enable control the axis using the axis control panel:
1. Click "Activate" in the "Master control" area to assume master control over the technology
object and to set up an online connection to the CPU.
A warning message is displayed.
2. If necessary, adapt the sign-of-life monitoring and confirm with "OK".
3. In the "Axis" area, click the "Enable" button to enable the technology object.
4. In the drop-down list in the "Operation mode" area, select the desired function of the axis
control panel.
5. In the "Control" area, specify the parameter values for your job.
6. Click the "Start", "Forward" or "Backward" button to start the job.
7. Click the "Stop" button to stop the job.
8. Repeat steps 3 through 6 for additional jobs.
9. In the "Axis" area, click the "Disable" button to disable the technology object.
10.In the "Master control" area, click the "Deactivate" button to return master control to your
user program.

Commissioning
9.4 Optimization
9.4 Optimization
9.4.1 Function and structure of the optimization
Description
The "Optimization" function supports you in determining the optimal gain (Kv factor) for the
position control of the axis. The axis velocity profile is recorded by means of Trace function
to this effect for the duration of a configurable positioning movement. Then you can evaluate
the recording, and adapt the gain accordingly.
The "Optimization" function for the positioning axis and synchronous axis technology objects
can be found in the Project Navigator under "Technology object > Commissioning".
The "Optimization" dialog is divided into the following areas:
● Master control
● Axis
● Optimize gain setting
● Trace

Commissioning
9.4 Optimization
The following table lists the elements of optimization:

Master control In the "Master control" area, you take over master control of the technology object, or
return it to your user program.
"Activate" button With the "Activate" button, you set up an online connection to the CPU and take over
master control for the selected technology object.
• To take over master control, the technology object must be disabled in the user
program.
• Any synchronized following axis is moved as well when moving a leading axis
with the axis control panel.
• If the online connection to the CPU is lost during operation with the axis control
panel, then after the sign of life monitoring has elapsed, the axis will be stopped
with maximum deceleration. In this case, an error message is displayed ("ErrorID"
= 16#8013) and the master control is passed back to the user program.
• When you click the "Fetch" button, a warning message is displayed. You can
adapt the sign-of-life monitoring here (100 to 60000 ms).
If the master control of the axis control panel is lost repeatedly without a direct er-
ror message, the online connection to the CPU may be impaired because the
communication load is too high. In this case, the alarm "Error during commission-
ing. Sign-of-life failure between controller and TIA Portal" is displayed.
To eliminate this error, adapt the sign-of-life monitoring in the warning.

• Until master control is returned, the user program has no influence on the func-
tions of the technology object. Motion Control jobs from the user program to the
technology object are rejected with the error ("ErrorID" = 16#8012: axis control
panel enabled).
• When master control is taken over, the configuration of the technology object is
adopted. Changes to the configuration of the technology object do not become ef-
fective until master control has been returned. For this reason, make any neces-
sary changes before master control is taken over.
• If master control has been taken over for the technology object, the axis control
panel is blocked for access by another installation of the TIA Portal (Team Engi-
neering as of CPU V1.5).
"Deactivate" With the "Deactivate" button, you return master control to your user program.
button
Axis In the "Axis" area, enable or disable the technology object.
"Enable" button With the "Enable" button, you enable the selected technology object
"Disable" button With the "Disable" button, you disable the selected technology object

Commissioning
9.4 Optimization

Optimize gain In the "Optimize gain setting" area, you make the settings for optimization of the gain.
setting
Gain Current velocity gain (Kv)
With the symbol beside the box, you open a list of values. The list of values
contains the following gain values:
• Online actual value
• Online start value
• Start value project
In the input field for the actual value, enter the new value for the gain. The new
value is applied by clicking the "Forward" or "Backward" button.
Distance Travel distance for a test step
Measurement Time for a test step
duration
"Adapt dynamic With the "Adapt dynamic values" check box, you enable adaptation of the accelera-
values" check- tion and the maximum velocity.
box
Acceleration Presetting of the acceleration for a test step
Maximum ve- Presetting of the maximum velocity for a test step
locity
"Forward" button With the "Forward" button, you start a test step for optimization in the positive direc-
tion.
"Backward" With the "Backward" button, you start a test step for optimization in the negative
button direction.
Trace The Trace function is displayed In the lower area of the "Optimization" dialog.
With each test step a trace recording of the required parameters is automatically
started and displayed after completion of the test step.
After returning master control, the trace recording is deleted.
You will find a full description of the trace function in the section on using the trace
and logic analyzer function.
Note
No transfer of the parameters
The configured parameter values are discarded after master control is returned.
Transfer the values as needed into your configuration. You can apply the gain value in your
configuration using the "Project start value" value.
See also
Control (Page 59)

Commissioning
9.4 Optimization
9.4.2 Optimize position controller
Requirement
● The CPU must be in RUN mode.
● The project has been created and downloaded to the CPU.
● The technology object is disabled by your user program (MC_Power.Enable = FALSE).
● The axis control panel for the technology object is not used by another installation of the
TIA Portal (Team Engineering as of CPU V1.5).
Optimizing position control gain (Kv)

Proceed as follows to optimize the gain (Kv):
1. In the "Master control" area, click the "Activate" button to activate master control for the
technology object, and to establish an online connection to the CPU.
A warning message is displayed.
2. If necessary, adapt the sign-of-life monitoring and confirm with "OK".
3. In the "Axis" area, click the "Enable" button to enable the technology object.
4. As appropriate, configure values for the distance, duration, and dynamics of a test step.
5. Enter a start value for the gain. Start with a low value.
6. Click the "Forward" or "Start" button to start a test step for the optimization.
For the specified duration, a setpoint is output according to the specified distance. The
axis moves by the specified distance. A trace recording of the motion (setpoint and actual
values) is created automatically.
You will find a full description of the trace function in the section on using the trace and
logic analyzer function.
Note
Adapt following error limits
If error messages from following error monitoring are repeatedly displayed during
optimization, temporarily adapt the following error limits.
7. Evaluate the curve of the trace recording. Adapt the gain incrementally. Click the
"Forward" or "Backward" button after each value you enter. This applies the value and
start a new movement and trace recording each time.
When adjusting the gain, pay attention to the following properties of the curve:
● The curve shows a brief compensation time.
● The curve does not show any motion reversal of the actual position.
● When approaching the position setpoint, no overshoot occurs.
● The curve shows a stable overall behavior (oscillation-free curve).

Commissioning
9.4 Optimization
The following trace recording shows a curve with a long settling time:
The following trace recording shows a curve with overshoot when approaching the setpoint:

Commissioning
9.4 Optimization
The following trace recording shows a curve in which the gain is optimal and the overall
response is steady:
Transferring the position control gain (Kv) to the project

Proceed as follows to transfer the determined gain (Kv) into your project:
1. Click on the icon next to the "Gain" box.
A list of values is displayed.
2. Enter the measured gain value in the "Project start value" box of the value list.
3. In the "Axis" area, click the "Disable" button to disable the technology object.
4. In the "Master control" area, click the "Deactivate" button to return master control to your
user program.
5. Load your project into the CPU.

Commissioning
9.5 Simulation mode
9.5 Simulation mode

S7-1500 Motion Control offers the option to traverse axes without real hardware in simulation
mode. This allows speed, positioning and synchronous axes to be simulated in the CPU
without a drive.
Simulation mode is only possible for the drive connection via PROFIdrive.
To traverse axes in simulation mode, follow these steps:
1. Configure the hardware, the technology objects and your user program.
2. For the each axis to be simulated, set the technology object tag <TO>.Simulation.Mode to
the value 1.
3. If the hardware configured under point 1 is not connected to the CPU, change the
"Configuration time for central and distributed I/O" parameter to a low value
(e.g. 2000 ms). You can find the parameter in the CPU properties in the "Startup" area
navigation.
4. Save the project and compile the hardware and software.
5. Download the program to the CPU.
Note
Adapting monitoring
If error messages from the monitoring functions are repeatedly displayed during simulation,
temporarily adapt the monitoring limits.

Diagnostics 10
10.1 Introduction
The Diagnostics chapter is limited to describing the diagnostic concept for Motion Control,
and describing the Diagnostics view of the individual technology objects in the TIA Portal.
For more information about system diagnostics with the S7-1500 CPU, refer to the
"Diagnostics" (http://support.automation.siemens.com/WW/view/en/59192926) function
manual.
10.2 Diagnostic concept

The diagnostic concept encompasses alarms and associated messages, as well as error
messages in the Motion Control instructions. The TIA Portal also supports you with
consistency checks during configuration of the technology objects, and during the creation of
your user program.
All alarms in runtime (from the CPU, technology, hardware etc.) are displayed in the
Inspector window of the TIA Portal. Diagnostic information that relates to technology objects
(technology alarms, status information) are additionally displayed in the Diagnostics window
of the respective technology object.
During Motion Control, if an error occurs at a technology object (e.g. approaching a
hardware limit switch), then a technology alarm (Page 215) is triggered, and a corresponding
message is displayed in the TIA Portal as well as on HMI devices.
In your user program, technology alarms are generally signaled via error bits in the
technology data block. The program always displays the technology alarm that has top
priority. In order to simplify error evaluation, the "Error" and "ErrorID" parameters of the
Motion Control instructions also indicate that a technology alarm is pending.
Program errors (Page 219) can occur during parameter assignment or during the processing
sequence of the Motion Control instructions (e.g. invalid parameter specification when calling
the instruction, initiation of a job without enablement via MC_Power). Errors in Motion
Control instructions are indicated when the instructions are called, by means of the "Error"
and "ErrorID" parameters.

Diagnostics
10.3 Technology alarms
Description
If an error occurs at a technology object (e.g. approaching a hardware limit switch), then a
technology alarm is triggered and indicated. The impact of a technology alarm on the
technology object is specified by the alarm reaction.
Alarm classes
Technology alarms are divided into three classes:
● Warning (can be acknowledged)
The processing of Motion Control jobs continues. The current motion of the axis can be
influenced, e.g. by limitation of the current dynamic values to the configured limit values.
● Alarm (must be acknowledged)
Motion jobs are aborted in accordance with the alarm reaction. In order to continue job
processing after resolving the cause of error, you must acknowledge the alarms.
● Fatal error
Motion jobs are aborted in accordance with the alarm reaction.
To be able to use the technology object again after eliminating the problem, you will need
to restart the technology object (Page 197).

Diagnostics
Display of technology alarms

A technology alarm is displayed in the following locations:
● TIA Portal
– "Technology object > Diagnostics > Status and error bits"
Display of pending technology alarms for each technology object.
– "Technology object > Commissioning > Axis control panel"
Display of the last pending technology alarm for each technology object.
– "Inspector window > Diagnostics > Message display"
Select the "Receive messages" check box under "Online & Diagnostics > Online
Access" in order to display technology alarms via the message display.
With an online connection to the CPU, the pending technology alarms for all
technology objects are displayed. Additionally, the archive view is available to you.
The message display can also be enabled at a connected HMI, and displayed.
– "CPU > Online & diagnostics"
Display of the technology alarms that have been recorded in the diagnostics buffer.
● User program
– Tags <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
Indication of the number and the reaction for the last technology alarm that occurred.
– Tag <TO>.StatusWord
A pending technology alarm is indicated with bit 1 ("Error").
– Tag <TO>.ErrorWord
Indication of alarms and fatal errors.
– Tag <TO>.WarningWord
Indication of warnings.
– Parameter "Error" and "ErrorID"
In a Motion Control instruction, the parameters "Error" = TRUE and
"ErrorID" = 16#8001 indicate that a technology alarm is pending.
● Display of the CPU
In order to show technology alarms on the CPU display, make the following setting when
loading to the CPU:
In the "Load preview" dialog, select the action "Consistent download" for the "Text
libraries" entry.

Diagnostics
Alarm reaction
A technology alarm always contains an alarm reaction, which describes the impact on the
technology object. The alarm reaction is specified by the system.
The following list shows possible alarm reactions:
● No reaction (warnings only)
<TO>.ErrorDetail.Reaction = 0
The processing of Motion Control jobs continues. The current motion of the axis can be
influenced, e.g. by limitation of the current dynamic values to the configured limit values.
● Stop with current dynamic values
Active motion commands are aborted. The axis is braked with the dynamic values that
are pending in the Motion Control instruction, and brought to a standstill.
● Stop with maximum dynamic values
Active motion commands are aborted. The axis is braked with the dynamic values
configured under "Technology object > Extended parameters > Dynamic limits", and
brought to a standstill. The configured maximum jerk is taken into account at the same
time.
● Stop with emergency stop ramp
Active motion commands are aborted. The axis is braked with the emergency stop
deceleration configured under "Technology object > Extended parameters > Emergency
stop ramp", without any jerk limit, and brought to a standstill.
● Remove enable
The setpoint zero is output, and the enablement is removed. The axis is braked
depending on the configuration in the drive, and is brought to a standstill.
● Follow-up setpoints
Active motion commands are aborted. The actual values supplied by the drive are
automatically tracked as setpoints. The actual values are not monitored at the controller
end.

Diagnostics
Acknowledging technology alarms

You can acknowledge technology alarms as follows:
● TIA Portal
– "Technology object > Diagnostics > Status and error bits"
Click "Confirm" to acknowledge all alarms and warnings pending for the selected
technology object.
(Not possible for external encoder technology object)
– "Technology object > Commissioning > Axis control panel"
Click "Confirm" to acknowledge all alarms and warnings pending for the selected
technology object.
(Not possible for external encoder technology object)
– "Inspector window > Diagnostics > Message display"
You can acknowledge the alarms and warnings for all technology objects either
individually, or all at once.
● HMI
At an HMI with enabled message display, you can acknowledge the alarms and warnings
for all technology objects either individually, or all at once.
● User program
Acknowledge pending alarms at a technology object using the Motion Control instruction
"MC_Reset".

Diagnostics
10.4 Errors in Motion Control instructions
10.4 Errors in Motion Control instructions
Description
Errors in Motion Control instructions (e.g. invalid parameter value setting) are indicated at
the "Error" and "ErrorID" output parameters.
Under the following conditions, "Error" = TRUE and "ErrorID" = 16#8xxx are indicated at the
Motion Control instruction:
● Invalid status of the technology object, which prevents the execution of the job.
● Invalid parameter assignment of the Motion Control instruction, which prevents the
execution of the job.
● As a result of the alarm response for an error at the technology object.
Error indication
If an error occurs in a Motion Control instruction, the "Error" parameter shows the value
TRUE. The cause of the error can be found in the value of the ErrorID" parameter.
Jobs at the technology object are rejected when "Error" = TRUE. Running jobs are not
influenced by rejected jobs.
If "Error" = TRUE and "ErrorID" = 16#8001 are indicated during the job processing, then a
technology alarm has occurred. In this case, evaluate the indication of the technology alarm.
If "Error" = TRUE is displayed during the execution of a "MC_MoveJog" job, the axis is
braked and brought to a standstill. In this case, the deceleration configured with the
"MC_MoveJog" instruction takes effect.
Acknowledge errors
Acknowledging errors in Motion Control instructions is not required.
Restart a job after resolving the error.
A list of the ErrorIDs can be found in the appendix, Error Detection (Page 386).

Diagnostics
10.5.1 Status and error bits
Description
You use the "Technology object > Diagnostics > Status and error bits" diagnostic function in
the TIA Portal to monitor the status and error messages for the technology object. The
Diagnostics function is available in online operation.
The meaning of the status and error messages is described in the following tables. The
associated technology object tag is given in parentheses.
Axis status
The following table shows the possible axis status values:
Status Description
Enabled The technology object is enabled. The axis can be controlled with Motion Control instruc-
tions.
(<TO>.StatusWord.X0 (Enable))
Error An error has occurred at the technology object. Detailed information about the error is avail-
able in the "Error" area, and in the <TO>.ErrorDetail.Number and <TO>.ErrorDetail.Reaction
tags of the technology object.
(<TO>.StatusWord.X1 (Error))
Restart active The technology object is being reinitialized.
(<TO>.StatusWord.X2 (RestartActive))
Axis control panel enabled The axis control panel is enabled. The axis control panel has master control over the tech-
nology object. The axis cannot be controlled from the user program.
(<TO>.StatusWord.X4 (ControlPanelActive))
(<TO>.StatusDrive.InOperation)
Online start value changed Data relevant for the restart has been changed. The changes will not be applied until the
technology object is restarted. (<TO>.StatusWord.X3 (OnlineStartValuesChanged))

Diagnostics
Motion status
The following table shows the possible axis motion status values:
Status Description
Done (no active job) No motion job is active at the technology object.
(<TO>.StatusWord.X6 (Done))
Jog The axis is being moved by a jog mode job from the Motion Control instruction
"MC_MoveJog", or from the axis control panel.
(<TO>.StatusWord.X9 (JogCommand))
Speed preset The axis is traversed by means of a job with speed preset in Motion Control instruction
"MC_MoveVelocity", or using the axis control panel.
(<TO>.StatusWord.X10 (VelocityCommand))
Constant speed The axis is traversing at a constant speed or is at a standstill.
(<TO>.StatusWord.X12 (ConstantVelocity))
Accelerating The axis is being accelerated.
(<TO>.StatusWord.X13 (Accelerating))
Decelerating The axis is being decelerated.
(<TO>.StatusWord.X14 (Decelerating))
Warnings
The following table shows the possible warnings:
Warning Description
Configuration adapted One or several configuration parameters are adjusted internally at a certain time.
(<TO>.WarningWord.X1 (ConfigurationFault))
Job rejected Command cannot be executed.
A Motion Control command cannot be executed, because necessary preconditions are
not met.
(<TO>.WarningWord.X3 (CommandNotAccepted))
Dynamic limitation Dynamic values were limited to the dynamic limits.
(<TO>.WarningWord.X6 (DynamicError))

Diagnostics
Error
The following table shows the possible errors:
Error Description
System An internal system error has occurred.
(<TO>.ErrorWord.X0 (SystemFault))
Configuration Configuration error
One or more configuration parameters are inconsistent or invalid.
The technology object was incorrectly configured, or editable configuration data were
incorrectly modified during runtime of the user program.
(<TO>.ErrorWord.X1 (ConfigurationFault))
User program Error in the user program in a Motion Control instruction, or in its utilization.
(<TO>.ErrorWord.X2 (UserFault))
Drive Error in the drive.
(<TO>.ErrorWord.X4 (DriveFault))
Data exchange Error in communication with a connected device.
(<TO>.ErrorWord.X7 (CommunicationFault))
I/O Error accessing a logical address.
(<TO>.ErrorWord.X13 (PeripheralError))
A Motion Control instruction cannot be executed because the necessary conditions have
not been fulfilled (e.g. technology object not homed).
(<TO>.ErrorWord.X3 (CommandNotAccepted))
(<TO>.ErrorWord.X6 (DynamicError))
Confirm
Click "Confirm" to acknowledge alarms and warnings pending.
An option for the evaluation of the individual status bits can be found in the Evaluating
StatusWord, ErrorWord and WarningWord (Page 175) section.

Diagnostics
10.5.2 Motion status
Description
You use the "Technology object > Diagnostics > Motion status" diagnostic function in the TIA
Portal to monitor the motion status of the axis. The Diagnostics function is available in online
operation.
"Current values" area

The following table shows the meaning of the status data:
Status Description
Speed setpoint Speed setpoint of the axis
(<TO>.Velocity)
Speed override Speed setpoint correction as percentage
The speed setpoint specified in motion control instructions or set by the axis control panel are
superimposed with an override signal and corrected as a percentage. Valid speed correction
values range from 0.0 % to 200.0 %.
(<TO>.Override.Velocity)
"Dynamic limits" area

This area displays the limit values for the dynamic parameters.
Status Description
Speed Configured maximum speed
(<TO>.DynamicLimits.MaxVelocity)
Acceleration Configured maximum acceleration
(<TO>.DynamicLimits.MaxAcceleration)
Deceleration Configured maximum deceleration
(<TO>.DynamicLimits.MaxDeceleration)

Diagnostics
10.5.3 PROFIdrive frame
Description
The "Technology object > Diagnostics > PROFIdrive frame" diagnostics function is used in
the TIA Portal to monitor the PROFIdrive frame that the drive returns to the controller. The
"Drive" area
This area displays the following parameters contained in the PROFIdrive frame that the drive
returns to the controller:
● Status words "SW1" and "SW2"
● The setpoint speed that was output to the drive (NSET)
● The actual speed that was signaled from the drive (NACT)

Diagnostics
10.6 Positioning axis/synchronous axis technology object
Description
Axis status
The following table shows the possible axis status values:
Status Description
Enabled The technology object is enabled. The axis can be controlled with Motion Control instruc-
tions.
Homed The technology object is homed. The relationship between the position at the technology
object and the mechanical position was successfully created.
(<TO>.StatusWord.X5 (HomingDone))
Axis control panel enabled The axis control panel is enabled. The axis control panel has master control over the tech-
nology object. The axis cannot be controlled from the user program.
(<TO>.StatusWord.X4 (ControlPanelActive))
(<TO>.StatusDrive.InOperation)
Encoder values valid The encoder values are valid.
(<TO>.StatusSensor[n].State)
Online start value changed Data relevant for the restart has been changed. The changes will not be applied until after
reinitialization (restart) of the technology object.
(<TO>.StatusWord.X3 (OnlineStartValuesChanged))

Diagnostics
Status limit switch

The following table shows the possibilities for enabling the software and hardware limit
switches:
Limit switch Description

Negative software limit The negative software limit switch was approached.
switch approached (<TO>.StatusWord.X15 (SWLimitMinActive))
Positive software limit switch The positive software limit switch was approached.
approached (<TO>.StatusWord.X16 (SWLimitMaxActive))
Negative hardware limit The negative hardware limit switch was approached.
switch approached (<TO>.StatusWord.X17 (HWLimitMinActive))
Positive hardware limit The positive hardware limit switch was approached or passed.
switch approached (<TO>.StatusWord.X18 (HWLimitMaxActive))
Motion status
Status Description
Done (no active job) No motion job is active at the technology object.
Homing job The technology object is executing a homing job from the Motion Control instruction
"MC_Home", or from the axis control panel.
(<TO>.StatusWord.X11 (HomingCommand))
Jog The axis is being moved by a jog mode job from the Motion Control instruction
"MC_MoveJog", or from the axis control panel.
(<TO>.StatusWord.X9 (JogCommand))
Velocity setpoint A job traverses the axis at the speed setpoint specified in Motion Control instruction
"MC_MoveVelocity" or at the axis control panel.
(<TO>.StatusWord.X10 (VelocityCommand))
Positioning job The axis is being moved by a positioning job from the Motion Control instructions
"MC_MoveAbsolute", "MC_MoveRelative", or from the axis control panel.
(<TO>.StatusWord.X8 (PositioningCommand))
Constant velocity The axis is traversing at a constant velocity or is at a standstill.
(<TO>.StatusWord.X12 (ConstantVelocity))
Standstill The axis is at a standstill.
(<TO>.StatusWord.X7 (StandStill))
Accelerating The axis is being accelerated.
(<TO>.StatusWord.X13 (Accelerating))
Decelerating The axis is being decelerated.
(<TO>.StatusWord.X14 (Decelerating))

Diagnostics
Status Description
Synchronization Synchronous axis only
The axis is synchronized to the master value of a leading axis.
(<TO>.StatusWord.X21 (Synchronizing))
Gearing Synchronous axis only
The axis is synchronized and moves synchronously to the leading axis.
(<TO>.StatusWord.X22 (Synchronous))
Warnings
The following table shows the possible warnings:
Warning Description
Configuration adapted One or several configuration parameters are adjusted internally at a certain time.
(<TO>.WarningWord.X1 (ConfigurationFault))
A Motion Control command cannot be executed, because necessary preconditions are
not met.
(<TO>.WarningWord.X3 (CommandNotAccepted))
(<TO>.WarningWord.X6 (DynamicError))

Diagnostics
Error
Error Description
(<TO>.ErrorWord.X2 (UserFault))
Drive Error in the drive.
(<TO>.ErrorWord.X4 (DriveFault))
Encoder Error in the encoder system.
(<TO>.ErrorWord.X5 (SensorFault))
Data exchange Error in communication with a connected device.
I/O Error accessing a logical address.
(<TO>.ErrorWord.X13 (PeripheralError))
A Motion Control instruction cannot be executed because the necessary conditions have
not been fulfilled (e.g. technology object not homed).
(<TO>.ErrorWord.X3 (CommandNotAccepted))
Homing Error during a homing process.
(<TO>.ErrorWord.X10 HomingFault))
Positioning The axis was not correctly positioned at the end of a positioning motion.
(<TO>.ErrorWord.X12 (PositioningFault))
(<TO>.ErrorWord.X6 (DynamicError))
Following error The maximum permitted following error was exceeded.
(<TO>.ErrorWord.X11 (FollowingErrorFault))
SW limit switch A software limit switch has been reached.
(<TO>.ErrorWord.X8 (SwLimit))
Hardware limit switch A hardware limit switch has been reached or overshot.
(<TO>.ErrorWord.X9 (HWLimit))
Synchronize/desynchronize Synchronous axis only
Error during synchronous operation. The leading axis specified at the Motion Control in-
struction "MC_GearIn" was not configured as a possible leading axis.
(<TO>.ErrorWord.X14 (SynchronousError))
Confirm
Click "Confirm" to acknowledge alarms and warnings pending.

Diagnostics
Description
Portal to monitor the motion status of the axis. The Diagnostics function is available in online
operation.

Status Description
Target position Current target position of an active positioning job
The target position value is only valid while a positioning job is busy.
(<TO>.StatusPositioning.TargetPosition)
Actual position Actual position of the axis
If the technology object is not homed, then the value is displayed relative to the position that
existed when the technology object was enabled.
(<TO>.ActualPosition)
Actual velocity Actual velocity of the axis
(<TO>.ActualVelocity)
Velocity override Percentage correction of the velocity override
The velocity setpoint specified in motion control instructions or set by the axis control panel are
superimposed with an override signal and corrected as a percentage. Valid velocity correction
values range from 0.0 % to 200.0 %.
(<TO>.Override.Velocity)
"Dynamic limits" area

This area displays the limit values for the dynamic parameters.
Status Description
Velocity Configured maximum velocity
(<TO>.DynamicLimits.MaxVelocity)
Acceleration Configured maximum acceleration
(<TO>.DynamicLimits.MaxAcceleration)
Deceleration Configured maximum deceleration
(<TO>.DynamicLimits.MaxDeceleration)

Diagnostics
Description
The "Technology object > Diagnostics > PROFIdrive frame" diagnostics function is used in
the TIA Portal to monitor the PROFIdrive frame returned by the drive and encoder. The
display of the Diagnostics function is available in online operation.
"Drive" area
This area displays the following parameters contained in the PROFIdrive frame that the drive
returns to the controller:
● Status words "SW1" and "SW2"
● The setpoint speed that was output to the drive (NSET)
● The actual speed that was signaled from the drive (NACT)
"Encoder" area
This area displays the following parameters contained in the PROFIdrive frame that the
encoder returns to the controller:
● Status word "G1_ZSW"
● The actual position value "G1_XIST1" (cyclic actual encoder value)
● The actual position value "G1_XIST2" (absolute value of the encoder)

Diagnostics
Description
Encoder status
The following table shows the possible external encoder status values:
Status Description
Enabled The technology object is enabled.
Homed The technology object is homed. The relationship between the position at the technology
object and the mechanical position was successfully created.
(<TO>.StatusWord.X5 (HomingDone))
Encoder values valid The encoder values are valid.
(<TO>.StatusSensor[n].State)
Online start value changed Data relevant for the restart has been changed. The changes will not be applied until the
technology object is restarted. (<TO>.StatusWord.X3 (OnlineStartValuesChanged))
Motion status
Status Description
Done (no active job) No active Motion Control job at the TO.
(Enable by "MC_Power" job excepted)
Homing job The technology object is executing a homing job from the Motion Control instruction
"MC_Home".
(<TO>.StatusWord.X11 (HomingCommand))

Diagnostics
Error
Error Description
(<TO>.ErrorWord.X2 UserFault))
Encoder Error in the encoder system.
(<TO>.ErrorWord.X5 (SensorFault))
Data exchange Missing or faulty communication.
Description
Portal to monitor the encoder values. The Diagnostics function is available in online
operation.

Status Description
Actual position Actual position of the axis
If the technology object is not homed, then the value is displayed relative to the position
that existed when the technology object was enabled.
(<TO>.ActualPosition)
Actual velocity Actual velocity of the axis
(<TO>.ActualVelocity)

Diagnostics
Description
The "Technology object > Diagnostics > PROFIdrive interface" diagnostic function is used in
the TIA Portal to monitor the PROFIdrive frame of the encoder. The display of the
diagnostics function is available in the online mode TO.
"Encoder" area
This area displays the following parameters contained in the PROFIdrive frame that the
encoder returns to the controller:
● Status word "G1_ZSW"
● The actual position value "G1_XIST1" (cyclic actual encoder value)
● The actual position value "G1_XIST2" (absolute value of the encoder)

Instructions 11
11.1 S7-1500 Motion Control V2
11.1.1 MC_Power
11.1.1.1 MC_Power: Enable, disable technology objects V2
Description
The Motion Control instruction "MC_Power" is used to enable and disable technology
objects.
Applies to
● Synchronous axis
● Positioning axis
● Speed axis
● External encoder
Requirements
● The technology object has been configured correctly.
Override response
● A MC_Power job cannot be aborted by any other Motion Control job.
● A MC_Power job with the parameter Enable = TRUE enables a technology object, but
does not thereby abort any other Motion Control instructions.
● Disabling the technology object (parameter "Enable" = FALSE ) aborts all Motion Control
jobs at the corresponding technology object in accordance with the selected "StopMode".
This process cannot be aborted by the user.

Instructions
Parameters
The following table shows the parameters of the "MC_POWER" Motion Control instruction:
Parameter Declaration Data type Default value Description

Axis InOut TO_Axis - Technology object
Enable INPUT BOOL FALSE TRUE The technology object is enabled.
FALSE The technology object is disabled.
All current jobs at the technology object are abort-
ed in accordance with the configured "StopMode".
StopMode INPUT INT 0 Not applicable to the external encoder technology object.
If you disable a technology object with a falling edge at the
Enable parameter, then the axis decelerates in accordance
with the selected "StopMode".
0 Emergency stop
When the technology object is disabled, the axis
brakes to a standstill without any jerk limitation,
using the emergency stop deceleration configured
in Technology object > Configuration > Extended
parameters > Emergency stop ramp. Enabling is
then removed.
(<TO>.DynamicDefaults.
EmergencyDeceleration)
1 Immediate stop
When a technology object is disabled, the setpoint
zero is output, and the enabling is removed. The
axis is braked depending on the configuration in
the drive, and is brought to a standstill.
2 Stop with maximum dynamic values
brakes to a standstill using the maximum decelera-
tion configured in "Technology object > Configura-
tion > Extended parameters > Dynamic limits".
The configured maximum jerk is taken into ac-
count at the same time. Enabling is then removed.
(<TO>.DynamicLimits.MaxDeceleration;
<TO>.DynamicLimits.MaxJerk)
Status OUTPUT BOOL FALSE Technology object enable status
FALSE Disabled
- A positioning axis or speed axis does not accept
any Motion Control jobs.
- Speed control and position control are not active.
- The actual values of the technology object are
not checked for validity.
TRUE Enabled
- An enabled positioning axis or speed axis ac-
cepts Motion Control jobs.
- Speed control and positioning control are active.
valid.

Instructions

Busy OUTPUT BOOL FALSE TRUE The job is being executed.
Error OUTPUT BOOL FALSE TRUE An error occurred in Motion Control instruction
MC_Power. The cause of the error can be found in
the "ErrorID" parameter.
ErrorID OUTPUT WORD 16#0000 Error ID (Page 386) for parameter "Error"
Enabling technology objects

To enable a technology object, set the Enable parameter to TRUE.
If the Status parameter shows the value TRUE , then the technology object is enabled.
If an axis is in motion when the technology object is enabled (actual velocity is present), then
the axis brakes to the setpoint zero, using the maximum deceleration configured in
"Technology object > Configuration > Extended parameters > Dynamic limits"
(<TO>.DynamicLimits.MaxDeceleration). This braking ramp can be overridden by Motion
Control jobs.
Note
Automatic enabling after acknowledgement of a technology alarm
If the technology object is disabled due to a technology alarm, then it will automatically be
enabled again after the cause has been eliminated and the alarm has been acknowledged.
This requires the Enable parameter to have retained the value TRUE during this process.
Disabling technology objects

To disable a technology object, set the Enable parameter to FALSE.
If an axis is in motion, then it will be braked to a standstill according to the selected
"StopMode".
If the "Busy" and "Status" parameters show the value FALSE , then the disabling of the
technology object has been completed.

Instructions
Drive connection by means of PROFIdrive

When coupling a drive with PROFIdrive, the setpoint, enabling, and drive status are
transmitted via the PROFIdrive frame.
● Enable technology object and drive
The parameter ""Enable" = TRUE" is used to enable the technology object. The drive is
enabled according to the PROFIdrive standard.
If the tag <TO>.StatusDrive.InOperation shows the value TRUE , then the drive is ready
to execute setpoints. The "Status" parameter is set to the value TRUE .
● Disable technology object and drive
With the parameter "Enable" = FALSE, the "Status" parameter is set to the value FALSE,
and the axis is braked according to the selected "StopMode". The drive is disabled
according to the PROFIdrive standard.
Analog drive connection

The setpoint is output via an analog output. Optionally, you can configure an enabling signal
via digital output (<TO>.Actor.Interface.EnableDriveOutput), and a readiness signal via
digital input (<TO>.Actor.Interface.DriveReadyInput).
With the parameter "Enable" = TRUE, the enabling output ("Enable drive output") is set.
If the drive reports back the readiness signal via the ready input ("Drive ready input"),
then the "Status" parameter and the technology object's <TO>.StatusDrive.InOperation
tag are set to TRUE, and the setpoint is switched at the analog output.
and the axis is braked according to the selected "StopMode". When the setpoint zero is
reached, the enabling output is set to FALSE.
Additional information on enabling and disabling technology objects and drives can be found
in the appendix, MC_Power Function Charts (Page 388).
See also
Error ID (Page 386)

Instructions
11.1.1.2 MC_Power: Function chart V2
Function chart: Enabling a technology object, and example for alarm response
A technology object is enabled with "Enable_1= TRUE". Successful enabling can be read
from "Status_1" at time ①. The axis will then move with an "MC_MoveVelocity" job (A2). The
velocity profile of the axis can be read from "Velocity Axis_1".
At time ② an error occurs in the technology object, which results in the disabling of the
technology object (alarm response: remove enable). The axis is braked depending on the
configuration in the drive, and is brought to a standstill. When the technology object is
disabled, Status_1 is reset. Since the axis was not disabled using "Enable_1" = FALSE, the
selected "StopMode" does not apply. The cause of the error is corrected and the alarm is
acknowledged at time ③.
Since "Enable_1" is still set, the technology object is enabled again. Successful enabling can
be read from "Status_1". Next the technology object is disabled with "Enable_1" = FALSE.

Instructions
11.1.2 MC_Home
11.1.2.1 MC_Home: Home technology objects, set home position V2
Description
With the Motion Control instruction "MC_Home", you create the relationship between the
position in the technology object and the mechanical position. The position value in the
technology object is assigned to a homing mark at the same time. This homing mark
represents a known mechanical position.
The homing process occurs according to the mode selected with the "Mode" parameter, and
the configuration under "Technology object > Configuration > Extended parameters >
Homing".
The preset values under "Technology object > Configuration > Extended parameters >
Dynamic default values" are used for the dynamic values Acceleration, Deceleration and
Jerk.
Applies to
The following table shows which modes are possible with each of the technology objects:
Operating mode Positioning axis/ Positioning axis/ External External absolute

synchronous axis synchronous axis incremental encoder
with incremental with absolute encoder
encoder encoder
Active homing X - - -
("Mode" = 3, 5)
Passive homing X - X -
("Mode" = 2, 8, 10)
Set actual position X X X X
("Mode" = 0)
Relative shift of the actual position X X X X
("Mode" = 1)
Homing absolute encoder - X - X
("Mode" = 6, 7)

Instructions
Requirement
● "Mode" = 2, 3, 5, 8, 10
The technology object must be enabled.
● "Mode" = 0, 1, 6, 7, 8
The encoder values must be valid. (<TO>.StatusSensor[n].State = 2)
Override response
● An MC_Home job for passive homing is aborted by:
– Disabling the technology object by means of "MC_Power.Enable" = FALSE
– "MC_Home" job with parameter "Mode" = 3, 5, 9
● An "MC_Home" job for passive homing does not abort any other Motion Control jobs.
● An "MC_Home" job for active homing is aborted by:
– Disabling the technology object with "MC_Power.Enable" = FALSE
– "MC_Home" job "Mode" = 3, 5
– "MC_Halt" job
– "MC_MoveAbsolute" job
– "MC_MoveRelative" job
– "MC_MoveVelocity" job
– "MC_MoveJog" job
– "MC_GearIn" job
● An "MC_Home" job for active homing aborts the following running Motion Control jobs.
– "MC_Home" job with parameter "Mode" = 3, 5, 8, 10
– "MC_Halt" job
– "MC_GearIn" job
– "MC_MoveSuperimposed" job

Instructions
Parameters
The following table shows the parameters of the "MC_Home" Motion Control instruction:

Execute INPUT BOOL FALSE Start of the job with a positive edge
Position INPUT LREAL 0.0 The specified value is used according to the selected
"Mode".
Mode INPUT INT 0 Operating mode
0 Direct homing (absolute)
The current position of the technology ob-
ject is set to the value of parameter
"Position".
1 Direct homing (relative)
ject is shifted by the value of parameter
"Position".
2 Passive homing
(without reset)
Functions like "Mode" 8, with the difference
that the "homed" status is not reset when
the function is enabled.
3 Active homing
The TO positioning axis/synchronous axis
performs a homing movement according to
the configuration.
After the completion of the movement, the
axis is positioned at the value of the
"Position" parameter.
4 Reserved
5 Active homing
("Position" parameter has no effect)
The TO positioning axis/synchronous axis
performs a homing movement according to
the configuration.
After completion of the movement, the axis
is positioned at the home position config-
ured under "Technology object > Configura-
tion > Extended parameters > Homing >
Active homing".
(<TO>.Homing.HomePosition)
6 Absolute encoder adjustment (relative)
The current position is shifted by the value
of the parameter "Position".
The calculated absolute value offset is
stored retentively in the CPU.
(<TO>.StatusSensor[n].
AbsEncoderOffset)

Instructions

7 Absolute encoder adjustment (absolute)
The current position is set to the value of
the parameter "Position".
AbsEncoderOffset)
8 Passive homing
When the homing mark is detected, the
actual value is set to the value of the "Posi-
tion" parameter.
9 Canceling passive homing
A running job for passive homing is abort-
ed.
10 Passive homing
actual value is set to the home position
configured under "Technology object >
Configuration > Extended parameters >
Homing > Passive homing".
Done OUTPUT BOOL FALSE TRUE Job is completed
CommandAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted by
another job.
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the
job. The job is rejected. The cause of the
error can be found in the "ErrorID" parame-
ter.

Instructions
Resetting the "Homed" status

The "Homed" status of a technology object is reset under the following conditions
(<TO>.StatusWord.X5 (HomingDone)):
● Technology objects with incremental actual values:
– Starting an "MC_Home" job with "Mode" = 3, 5, 8, 10
(After successful completion of the homing operation, the "Homed" status is reset.)
– Error in the encoder system, or encoder failure
– Restart of the technology object
– After POWER OFF -> POWER ON of the CPU
– Memory reset
– Modification of the encoder configuration
● Technology objects with absolute actual values:
– Restoration of the CPU factory settings
– Replacement of the CPU
Homing a technology object with "Mode" = 1..8, 10

To home a technology object, follow these steps:
1. Check the requirements indicated above.
2. Specify the desired homing function in the "Mode" parameter.
3. Initialize the necessary parameters with values, and start the homing operation with a
positive edge at the "Execute" parameter.
If the "Done" parameter shows the value TRUE, then the "MC_Home" job has been
completed according to the selected "Mode". The "Homed" status of the technology object is
indicated under "Technology object > Diagnostics > Status and error bits > Motion status >
Homed" (<TO>.StatusWord.X5 (HomingDone)).
Termination of a passive homing process with "Mode" = 9

With "Mode" = 9, the technology object is not homed. If a running "MC_Home" job for
passive homing ("Mode" = 2, 8, 10) is overridden by another "MC_Home" job with
"Mode" = 9, then the running job is terminated with the parameter
"CommandAborted" = TRUE. The overriding job with "Mode" = 9 signals successful
execution with the parameter "Done" = TRUE.

Instructions
See also
Error ID (Page 386)
11.1.3 MC_MoveJog
11.1.3.1 MC_MoveJog: Move axes in jog mode V2
Description
With the Motion Control instruction "MC_MoveJog", you can move an axis in jog mode.
Dynamic behavior during movement is defined with the parameters "Velocity", "Jerk",
"Acceleration" and "Deceleration".
● Positioning axis/synchronous axis:
A velocity is specified in the "Velocity" parameter.
● Speed axis:
A speed is specified at the "Velocity" parameter.
Applies to
● Speed axis
Requirement
● The technology object is enabled.

Instructions
Override response
The "MC_MoveJog" job is aborted by:
● Disabling the axis with "MC_Power.Enable" = FALSE
● "MC_Home" job "Mode" = 3, 5
● "MC_Halt" job
● "MC_MoveAbsolute" job
● "MC_MoveRelative" job
● "MC_MoveVelocity" job
● "MC_MoveJog" job
● "MC_GearIn" job
Starting a "MC_MoveJog" job aborts the following active Motion Control jobs:
● "MC_Halt" job
● "MC_GearIn" job
● "MC_MoveSuperimposed" job

Instructions
Parameters
The following table shows the parameters of the "MC_MoveJog" Motion Control instruction:

Axis InOut TO_SpeedAxis - Technology object
JogForward INPUT BOOL FALSE As long as the parameter is TRUE, the axis moves in
the positive direction at the velocity specified in pa-
rameter "Velocity".
JogBackward INPUT BOOL FALSE As long as the parameter is TRUE, the axis moves in
the negative direction at the velocity specified in
parameter "Velocity".
Velocity INPUT LREAL 100.0 Setpoint speed / setpoint speed for the motion pro-
cess
Value > 0.0: The specified value is used.
Value < 0.0: The specified value is used.
("Velocity" = 0.0 is permitted)
Acceleration INPUT LREAL -1.0 Acceleration
Value = 0.0: not permitted
Value < 0.0: The acceleration configured in "Tech-
nology object > Configuration > Extended parame-
ters > Dynamic defaults" is used.
(<TO>.DynamicDefaults.Acceleration)
Deceleration INPUT LREAL -1.0 Deceleration
Value < 0.0: The deceleration configured in "Tech-
(<TO>.DynamicDefaults.Deceleration)
Jerk INPUT LREAL -1.0 Jerk
Value > 0.0: Constant-acceleration velocity profile;
the specified jerk is used.
Value = 0.0: Trapezoid velocity profile
Value < 0.0: The jerk configured in "Technology
object > Configuration > Extended parameters >
Dynamic defaults" is used.
(<TO>.DynamicDefaults.Jerk)
InVelocity OUTPUT BOOL FALSE TRUE The setpoint velocity / setpoint speed was
reached and will be maintained.
another job.
ter.

Instructions
Behavior with setpoint velocity / setpoint speed zero (Velocity" = 0.0)

An "MC_MoveJog" job with "Velocity" = 0.0 stops the axis with the configured deceleration.
When the setpoint velocity / setpoint speed zero is reached, the parameter "InVelocity" will
indicate the value TRUE.
Under "Technology object > Diagnostics > Status and error bits > Motion status", "constant
velocity" and "standstill" will be displayed (<TO>.StatusWord.X12 (ConstantVelocity);
<TO>.StatusWord.X7 (Standstill)).
Moving an axis in jog mode

Proceed as follows to move an axis in jog mode:
2. Move the axis in the positive direction with "JogForward", or in the negative direction with
"JogBackward".
The current motion state is indicated in "Busy", "InVelocity" and "Error".
Note
Behavior when changing the override
If the velocity / speed is influenced during constant motion by a change in the override
(<TO>.Override.Velocity), then the "InVelocity" parameter is reset during the acceleration or
deceleration. When the newly calculated velocity is reached ("Velocity" × "Override" %), then
"InVelocity" is set again.
See also
Error ID (Page 386)

Instructions
11.1.3.2 MC_MoveJog: Function chart V2
Function chart: Moving an axis in jog mode
The axis is moved in the negative direction in jog mode via "Jog_B". When the setpoint
velocity -50.0 is reached, this is signaled via "InVel" = TRUE. After "Jog_B" is reset, the axis
is braked and brought to a standstill. Then the axis is moved in the positive direction via
"Jog_F". When the setpoint velocity 50.0 is reached, this is signaled via "InVel" = TRUE.
At time ①, if "Jog_F" is set, the setpoint velocity is changed to 100.0 by means of
"Vel_Input". Alternatively, you can also change the setpoint velocity via the velocity override.
"InVel" is reset. The axis is being accelerated. When the new setpoint velocity 100.0 is
reached, this is signaled via "InVel" = TRUE.
If "Jog_F" is set, "Jog_B" is likewise set at time ②. If both "Jog_F" and "Jog_B" are set, then
the axis is braked with the last applicable deceleration. An error is indicated via "Error", and
the "ErrorID" of the error 16#8007 (incorrect direction specification) is output.

Instructions
This error is resolved by resetting the two inputs "Jog_F" and "Jog_B".
During the braking ramp, "Jog_F" is set at time ③. The axis is accelerated to the last
configured velocity. When the setpoint velocity 100.0 is reached, this is signaled via
"InVel" = TRUE.
11.1.4 MC_MoveVelocity
11.1.4.1 MC_MoveVelocity: Move axes at predefined velocity V2
Description
With the Motion Control instruction "MC_MoveVelocity", you can move an axis with a
constant velocity.
● Positioning axis/synchronous axis:
● Speed axis:
Applies to
● Speed axis
Requirement

Instructions
Override response
The "MC_MoveVelocity" is aborted by:
● "MC_Halt" job
● "MC_GearIn" job
Starting a "MC_MoveVelocity" job aborts the following active Motion Control jobs:
● "MC_Halt" job
● "MC_GearIn" job

Instructions
Parameters
The following table shows the parameters of the "MC_MoveVelocity" Motion Control
instruction:

cess
Direction INPUT INT 0 Direction of rotation of the axis
0 The sign of the velocity specified at the
"Velocity" parameter defines the direction
of rotation.
1 Positive direction of rotation
Value of "Velocity" is used.
2 Negative direction of rotation

Instructions

Current INPUT BOOL FALSE Maintain current velocity
FALSE Disabled
The values of parameters "Velocity" and
"Direction" are taken into account.
TRUE Enabled
The values at the parameters "Velocity"
and "Direction" are not taken into account.
The current velocity and direction at func-
tion start are retained.
When the axis resumes motion at the ve-
locity that was current at function start, the
"InVelocity" parameter returns the value
TRUE.
another job.
job. The cause of the error can be found in

An "MC_MoveVelocity" job with "Velocity" = 0.0 stops the axis with the configured
deceleration. When the setpoint velocity / setpoint speed zero is reached, the parameter
"InVelocity" will indicate the value TRUE.
The parameters "InVelocity" and "Busy" show the value TRUE, until the "MC_MoveVelocity"
job is overridden by another Motion Control job.

Instructions
Moving an axis with constant velocity / speed

Proceed as follows to move an axis with constant velocity / speed:
2. At the parameter "Velocity", specify the velocity / speed, with which the axis should be
moved.
3. Start the "MC_MoveVelocity" job with a positive edge at the parameter "Execute".
If the "InVelocity" parameter shows the value TRUE, then the setpoint velocity / setpoint
speed was reached. The axis continues moving at this constant velocity. The parameters
"InVelocity" and "Busy" show the value TRUE, until the "MC_MoveVelocity" job is overridden
by another Motion Control job.
Note
deceleration. When the newly calculated velocity / speed is reached ("Velocity" × "Override"
%), then "InVelocity" is reset.
See also
Error ID (Page 386)

Instructions
11.1.4.2 MC_MoveVelocity: Function chart V2
Function chart: Moving an axis with specification of velocity, and the response to an overriding job
A "MC_MoveVelocity" job (A1) initiated via "Exe_1" accelerates the axis and signals at time
① via "InVel_1" that the setpoint velocity 50.0 has been reached.
At time ②, the task is overridden via another "MC_MoveVelocity" job (A2). The abort is
signaled via "Abort_1". When the new setpoint velocity 15.0 is reached, this is signaled via
"InVel_2". The axis then continues moving at the constant velocity 15.0.

Instructions
The running "MC_MoveVelocity" job (A2) is overridden by another "MC_MoveVelocity" job

(A1). The abort is signaled via "Abort_2". The axis is accelerated to the new setpoint velocity
50.0. Before the setpoint velocity is reached, the current "MC_MoveVelocity" job A1) is
overridden at time ③ by another "MC_MoveVelocity" job A2). The abort is signaled via
"Abort_1". When the new setpoint velocity 15.0 is reached, this is signaled via "InVel_2". The
axis then continues moving at the constant velocity 15.0.
11.1.5 MC_MoveRelative
11.1.5.1 MC_MoveRelative: Relative positioning of axes V2
Description
With the Motion Control instruction "MC_MoveRelative", you can move an axis relative to the
position that exists at the beginning of job processing.
Applies to
Requirements

Instructions
Override response
The "MC_MoveRelative" job is aborted by:
● "MC_Halt" job
● "MC_GearIn" job
Starting a "MC_MoveRelative" job aborts the following active Motion Control jobs:
● "MC_Halt" job
● "MC_GearIn" job

Instructions
Parameters
The following table shows the parameters of the "MC_MoveRelative" Motion Control
instruction:

Axis InOut TO_Positioning - Technology object
Axis
Distance INPUT LREAL 0.0 Distance for the positioning process
(negative or positive)
Velocity INPUT LREAL -1.0 Setpoint velocity for the positioning
Value < 0.0: The velocity configured in "Technology
object > Configuration > Advanced parameters >
Default dynamics" is used.
(<TO>.DynamicDefaults.Velocity)
the specified jerk is used
Done OUTPUT BOOL FALSE TRUE Target position reached
another job.

Instructions

ter.
Moving an axis relative to the starting position

Proceed as follows to move an axis relative to the starting position:
2. Specify distance to be moved in the "Distance" parameter.
3. Start the "MC_MoveRelative" job with a positive edge at the parameter "Execute".
The current motion state is indicated in "Busy", "Done" and "Error".
See also
Error ID (Page 386)

Instructions
11.1.5.2 MC_MoveRelative: Function chart V2
Function chart: Relative positioning of an axis, and the response to an overriding job

Instructions
Section The axis is moved by an "MC_MoveRelative" job (A1) by the distance ("Distance") 1000.0 (the starting position
here is 0.0). When the axis reaches the target position, this is signaled at time ① via "Done_1". At this time ①,
another "MC_MoveRelative" job (A2) with distance 500.0 is started. When the axis reaches the new target
position, this is signaled via "Done_2". Since "Exe_2" was previously reset, "Done_2" is applied only to one
cycle.
Section A running "MC_MoveRelative" job (A1) is overridden by another "MC_MoveRelative" job (A2). The abort is
signaled at time ② via "Abort_1". The axis is then moved at the new velocity by the distance ("Distance")
500.0. When the new target position is reached, this is signaled via "Done_2".
11.1.6 MC_MoveAbsolute
11.1.6.1 MC_MoveAbsolute: Absolute positioning of axes V2
Description
With the Motion Control instruction "MC_MoveAbsolute", you can move an axis to an
absolute position.
Applies to
Requirements
● The technology object is homed.

Instructions
Override response
The "MC_MoveAbsolute" job is aborted by:
● "MC_Halt" job
● "MC_GearIn" job
Starting a "MC_MoveAbsolute" job aborts the following active Motion Control jobs:
● "MC_Halt" job
● "MC_GearIn" job

Instructions
Parameters
The following table shows the parameters of the "MC_MoveAbsolute" Motion Control
instruction:

Axis
Position INPUT REAL 0.0 Absolute target position
Is only evaluated with "modulo" enabled.
"Technology object > Configuration > Basic parame-
ters > Enable modulo
3 Shortest path
Done OUTPUT BOOL FALSE TRUE Target position reached.

Instructions

another job.
ter.
Moving an axis to an absolute position

Proceed as follows to move an axis to an absolute position:
2. Specify the desired target position at the "Position" parameter.
3. Start the "MC_MoveAbsolute" job with a positive edge at the parameter "Execute".
See also
Error ID (Page 386)

Instructions
11.1.6.2 MC_MoveAbsolute: Function chart V2
Function chart: Absolute positioning of an axis, and the response to an overriding job

Instructions
Section An axis is moved to absolute position 1000.0 with an "MC_MoveAbsolute" job (A1). When the axis reaches the
target position, this is signaled at time ① via "Done_1". At this time ①, another "MC_MoveAbsolute" job (A2)
with target position 1500.0 is started. When the axis reaches the target position 1500.0, this is signaled via
"Done_2". Since "Exe_2" was previously reset, "Done_2" is applied only to one cycle.
Section A running "MC_MoveAbsolute" job (A1) is overridden at time ② by another "MC_MoveAbsolute" job (A2). The
abort is signaled via "Abort_1". The axis is braked to the changed velocity and moved to the new target position
11.1.7 MC_MoveSuperimposed
11.1.7.1 MC_MoveSuperimposed: Superimposed positioning of axes V2
Description
With the Motion Control instruction "MC_MoveSuperimposed", you can start a relative
positioning motion which is superimposed on a running basic motion.
Dynamic behavior during movement is defined with the parameters "VelocityDiff", "Jerk",
"Acceleration" and "Deceleration". The dynamic values are added to the values of the basic
motion. The duration of the basic motion is not extended by a superimposed motion.
The dynamic of the total axis motion is the sum of the dynamic values of the basic motion
and the superimposed motion.
The behavior of the total motion depends on the type of basic motion:
● The basic motion is a single-axis motion:
– The maximum dynamic of the superimposed motion is the difference between the
current dynamic values of the basic motion and the dynamic limits.
– The entire motion is limited to the configured dynamic limits.
● The basic motion is a synchronous motion:
– The maximum dynamic of the superimposed motion is the difference between the
current dynamic values of the basic motion and the dynamic limits.
– The synchronous motion of the following axis is not limited to the dynamic limits of the
following axis.
– A "MC_MoveSuperimposed" job on a lead axis in synchronous operation affects the
lead axis and the following axis.
– A "MC_MoveSuperimposed" job on a following axis in synchronous operation only
affects the following axis.
It is always the dynamic of the total motion that is displayed in the technology data block and
in the TIA Portal.

Instructions
Applies to
Requirements
Override response
The "MC_MoveSuperimposed" job is aborted by:
● "MC_Halt" job
● "MC_GearIn" job
Starting a "MC_MoveSuperimposed" job aborts an active "MC_MoveSuperimposed" job.

Instructions
Parameters
The following table shows the parameters of the "MC_MoveSuperimposed" Motion Control
instruction:
Parameter Declaration Data type Default Description

value
Axis InOut TO_PositioningAxis - Axis technology object
Distance INPUT LREAL 0.0 Additional travel distance for the superimposing
positioning operation
VelocityDiff INPUT LREAL -1.0 Maximum velocity deviation compared to the running
motion
Done OUTPUT BOOL FALSE TRUE Superimposed positioning complete
another job.

Instructions

value
error can be found in the "ErrorID" param-
eter.
ErrorID OUTPUT WORD 0 Error ID (Page 386) for parameter "Error"
Starting superimposed positioning motion

To start a superimposed positioning motion with the "MC_MoveSuperimposed" Motion
Control instruction, follow these steps:
2. Specify the additional distance to be moved in the "Distance" parameter.
3. Start the "MC_MoveSuperimposed" job with a positive edge at the parameter "Execute".
See also
Error ID (Page 386)

Instructions
11.1.7.2 MC_MoveSuperimposed: Function chart V2
Function chart: Superimposed positioning of axes

Instructions
Section Using "Exe_1", an "MC_MoveRelative" job with a distance of 50.0 is initiated. At the point in time ①, using
"Exe_2", a MC_MoveSuperimposed job with a distance of 50.0 is initiated. The axis is traversed with the added
dynamic values of both jobs with the distance 50 + 50 = 100.0. When the axis reaches the target position,
"Done_2" is signaled.
Section Using "Exe_1", an "MC_MoveRelative" job with a distance of 50.0 is initiated. At the point in time ②, using
"Exe_2", a MC_MoveSuperimposed job with a distance of-50.0 is initiated. The axis is traversed with the added
dynamic values of both jobs with the distance 50.0 - 50.0 = 0.0. When the axis reaches the target position,
"Done_2" is signaled.
11.1.8 MC_GearIn
11.1.8.1 MC_GearIn: Start gearing V2
Description
With the Motion Control instruction "MC_GearIn", you can start a relative gearing between a
leading axis and a following axis.
Dynamic behavior of the following axis during synchronization is defined with the
parameters"Jerk", "Acceleration", and "Deceleration" .
You specify the gear ratio as the relationship between two integers (numerator/denominator)
with the parameters "RatioNumerator" and "RatioDenominator". You can change the gear
ratio during operation by placing a new "MC_GearIn" job. Transition processes are executed
with the specified dynamic values.
The numerator of the gear ratio is specified as positive or negative. This results in the
following response:
● Positive gear ratio:
The leading and following axes move in the same direction.
● Negative gear ratio:
The following axis rotates in the opposite direction of the leading axis.
You can start synchronous operation when the leading axis is at a standstill or when it is in
motion.
A position offset can occur between leading axis and following axis during synchronization.
This position offset depends on the start time of the "MC_GearIn" and the duration of the
synchronization process. The position offset is not compensated.
Applies to

Instructions
Requirements
● The leading axis is a positioning axis or synchronous axis.
● The following axis is a synchronous axis.
● The leading axis is specified as possible leading axis in the configuration of the following
axis in "Technology object > Configuration > Master value interconnections".
● The following axis is enabled.
Override response
The "MC_GearIn" job is aborted by:
● Disabling the following axis with "MC_Power.Enable" = FALSE
● "MC_Halt" job
● "MC_GearIn" job
Starting a "MC_GearIn" job aborts the following active Motion Control jobs:
● "MC_Halt" job
● "MC_GearIn" job
Disabling the leading axis with "MC_Power.Enable" = FALSE does not abort synchronous
operation. The following axis follows the leading axis even during the braking ramp and after
the leading axis is enabled again.

Instructions
Parameter
The following table shows the parameters of the "MC_GearIn" Motion Control instruction:

value
Master InOut TO_PositioningAxis - Leading axis technology object
Slave InOut TO_SynchronousAxis - Following axis technology object
RatioNumerator INPUT DINT 1 Gear ratio numerator
Permitted integer values:
-2147483648 to 2147483648
(value 0 not permitted)
RatioDenominator INPUT DINT 1 Gear ratio denominator
1 to 2147483648
Value < 0.0: The acceleration configured in
"Technology object > Configuration > Extended
parameters > Dynamic defaults" is used.
Value < 0.0: The deceleration configured in
"Technology object > Configuration > Extended
parameters > Dynamic defaults" is used.
Value > 0.0: Constant-acceleration velocity pro-
file; the specified jerk is used
InGear OUTPUT BOOL FALSE TRUE Synchronous operation reached
The following axis is synchronized and
moves synchronously to the leading
axis.
CommandAborted OUTPUT BOOL FALSE TRUE During execution the job was aborted
by another job.

Instructions

value
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of
the job. The job is rejected. The cause
of the error can be found in the
"ErrorID" parameter.
ErrorID OUTPUT WORD 0 Error ID (Page 386) for parameter "Error"
Starting synchronous operation

To start synchronous operation with the "MC_GearIn" Motion Control instruction, follow these
steps:
2. Specify the leading axis, the following axis and the gear ratio at the corresponding
parameters.
3. Start the "MC_GearIn" job with a positive edge at the parameter "Execute".
The following axis is synchronized to the master value of the leading axis. If the "InGear"
parameter shows the value TRUE, the following axis is synchronized and moves
synchronously to the leading axis. The parameters "InGear" and "Busy" show the value
TRUE until the "MC_GearIn" job is overridden by another Motion Control job.
See also
Error ID (Page 386)

Instructions
11.1.8.2 MC_GearIn: Function chart V2
Function chart: Synchronizing and switching the master value
Using "Exe_1", an "MC_GearIn" job (A1) is initiated. The following axis (TO_Slave) is
synchronized to the leading axis (TO_Master_1). "InGear_1" signals at time ① that the
following axis is synchronized and moves synchronously to the leading axis.
At time ②, synchronous operation is overridden by another "MC_GearIn" job (A2). The abort
is signaled via "Abort_1". The following axis is synchronized to the new leading axis
(TO_Master_2). "InGear_2" signals at time ③ that the following axis is synchronized and
moves synchronously to the leading axis.

Instructions
11.1.9 MC_Halt
11.1.9.1 MC_Halt: Stop axes V2
Description
With the Motion Control instruction "MC_Halt", you can brake an axis to a standstill.
Dynamic behavior during the braking process is defined with the parameters "Jerk" and
"Deceleration".
Applies to
● Speed axis
Requirement

Instructions
Override response
The "MC_Halt" job is aborted by:
● "MC_Halt" job
● "MC_GearIn" job
Starting a "MC_Halt" job aborts the following active Motion Control jobs:
● "MC_Halt" job
● "MC_GearIn" job

Instructions
Parameters
The following table shows the parameters of the "MC_Halt" Motion Control instruction:

Done OUTPUT BOOL FALSE TRUE Zero velocity reached
another job.
ter.
Braking an axis with "MC_Halt"

Proceed as follows to decelerate an axis to a standstill:
2. Supply the parameters "Deceleration" and "Jerk" with the desired values.
3. Start the "MC_Halt" job with a positive edge at the parameter "Execute".
The current motion state is indicated in "Busy", "Done" and "Error". The standstill of the axis
is indicated under "Technology object > Diagnostics > Status and error bits > Motion status >
Standstill" (<TO>.StatusWord.X7 (Standstill)).

Instructions
See also
Error ID (Page 386)
11.1.9.2 MC_Halt: Function chart V2
Function chart: Stopping an axis, and the response to an overriding job

Instructions
Section An axis is moved with an "MC_MoveVelocity" job (A1). When the setpoint velocity 50.0 is reached, this is sig-
naled via "InVel_1". At time ①, the "MC_MoveVelocity" job is overridden by an "MC_Halt" job (A2). The job
termination is signaled via "Abort_1". The axis is braked to a standstill. Successful completion of the "MC_Halt"
job is signaled via "Done_2".
Section The axis is moved with an "MC_MoveVelocity" job (A1). When the setpoint velocity 50.0 is reached, this is
signaled via "InVel_1". Next the "MC_MoveVelocity" job is overridden by an "MC_Halt" job (A2). The job termi-
nation is signaled via "Abort_1". During the braking process the "MC_Halt" job is overridden at time ② by an
"MC_MoveVelocity" job (A1). The job termination is signaled via "Abort_2". When the setpoint velocity 50.0 is
reached, this is signaled via "InVel_1". The axis is then moved with constant velocity.
11.1.10 MC_Reset
11.1.10.1 MC_Reset: Acknowledge alarms, restart technology objects V2
Description
All technology alarms that can be acknowledged in the user program are acknowledged with
the Motion Control instruction "MC_Reset". Acknowledgment also resets the "Error" and
"Warning" bits in the technology data block.
Technology objects are reinitialized (restarted) using the Motion Control instruction
"MC_Reset" with "Restart" = TRUE. Upon restart of the technology object, the new
configuration data are applied in the technology data block.
Applies to
● Speed axis
Requirements
● The cause of the error for a pending technology alarm has been resolved.
● For a restart, the technology object must be disabled.
("MC_Power.Status" = FALSE and "MC_Power.Busy" = FALSE)

Instructions
Override response
● Parameter "Restart" = FALSE:
Processing of the instruction "MC_Reset" can be aborted by other Motion Control jobs.
The MC_Reset job does not abort any running Motion Control jobs.
● Parameter "Restart" = TRUE:
The processing of the instruction "MC_Reset" with parameter "Restart" = TRUE cannot
be aborted by any other Motion Control job.
Parameters
The following table shows the parameters of the "MC_Reset" Motion Control instruction:

Restart INPUT BOOL FALSE TRUE "Restart"
Reinitialization of the technology object and ac-
knowledgment of pending technology alarms. The
technology object is reinitialized with the config-
ured start values.
FALSE Acknowledgement of queued technology alarms.
Done OUTPUT BOOL FALSE TRUE Error has been acknowledged.
Restart has been executed.
Command OUTPUT BOOL FALSE TRUE During execution the job was aborted by another
Aborted job.
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job. The
job is rejected. The cause of the error can be
found in the "ErrorID" parameter.

To acknowledge technology alarms, follow these steps:
2. Set the parameter "Restart" = FALSE.
3. Start the acknowledgement of the error with a positive edge at parameter "Execute".
If the Done parameter shows the value TRUE, then the error was acknowledged.
Note
Acknowledging with "Restart" = FALSE
If only the technology alarms are to be acknowledged, set "Restart" = FALSE. The
technology object cannot be used during a restart.

Instructions

Proceed as follows to restart a technology object:
2. Set the parameter "Restart" = TRUE.
3. Perform the restart with a positive edge at the input parameter "Execute".
If the "Done" parameter shows the value TRUE, then the restart of the technology object has
been completed.
Additional information on a restart can be found in the Restarting Technology Objects
(Page 197) section.
See also
Error ID (Page 386)

Instructions
11.2.1 MC_Power
11.2.1.1 MC_Power: Enable, disable technology objects V1
Description
The Motion Control instruction "MC_Power" is used to enable and disable technology
objects.
Applies to
● Speed axis
Requirements
Override response
● A MC_Power job cannot be aborted by any other Motion Control job.
● A MC_Power job with the parameter Enable = TRUE enables a technology object, but
does not thereby abort any other Motion Control instructions.
● Disabling the technology object (parameter "Enable" = FALSE ) aborts all Motion Control
jobs at the corresponding technology object in accordance with the selected "StopMode".
This process cannot be aborted by the user.

Instructions
Parameters
The following table shows the parameters of the "MC_POWER" Motion Control instruction:

Enable INPUT BOOL FALSE TRUE The technology object is enabled.
FALSE The technology object is disabled.
All current jobs at the technology object are abort-
ed in accordance with the configured "StopMode".
StopMode INPUT INT 0 Not applicable to the external encoder technology object.
If you disable a technology object with a falling edge at the
Enable parameter, then the axis decelerates in accordance
with the selected "StopMode".
0 Emergency stop
brakes to a standstill without any jerk limitation,
using the emergency stop deceleration configured
in Technology object > Configuration > Extended
parameters > Emergency stop ramp. Enabling is
then removed.
(<TO>.DynamicDefaults.
EmergencyDeceleration)
1 Immediate stop
When a technology object is disabled, the setpoint
zero is output, and the enabling is removed. The
axis is braked depending on the configuration in
the drive, and is brought to a standstill.
brakes to a standstill using the maximum decelera-
tion configured in "Technology object > Configura-
tion > Extended parameters > Dynamic limits".
The configured maximum jerk is taken into ac-
count at the same time. Enabling is then removed.
(<TO>.DynamicLimits.MaxDeceleration;
<TO>.DynamicLimits.MaxJerk)
Status OUTPUT BOOL FALSE Technology object enable status
FALSE Disabled
- A positioning axis or speed axis does not accept
any Motion Control jobs.
- Speed control and position control are not active.
not checked for validity.
TRUE Enabled
- An enabled positioning axis or speed axis
accepts Motion Control jobs.
- Speed control and positioning control are active.
valid.

Instructions

Error OUTPUT BOOL FALSE TRUE An error occurred in Motion Control instruction
MC_Power. The cause of the error can be found in
Enabling technology objects

To enable a technology object, set the Enable parameter to TRUE.
If the Status parameter shows the value TRUE , then the technology object is enabled.
If an axis is in motion when the technology object is enabled (actual velocity is present), then
the axis brakes to the setpoint zero, using the maximum deceleration configured in
"Technology object > Configuration > Extended parameters > Dynamic limits"
(<TO>.DynamicLimits.MaxDeceleration). This braking ramp can be overridden by Motion
Control jobs.
Note
Automatic enabling after acknowledgement of a technology alarm
If the technology object is disabled due to a technology alarm, then it will automatically be
enabled again after the cause has been eliminated and the alarm has been acknowledged.
This requires the Enable parameter to have retained the value TRUE during this process.
Disabling technology objects

To disable a technology object, set the Enable parameter to FALSE.
If an axis is in motion, then it will be braked to a standstill according to the selected
"StopMode".
If the "Busy" and "Status" parameters show the value FALSE , then the disabling of the
technology object has been completed.

Instructions
Drive connection by means of PROFIdrive

When coupling a drive with PROFIdrive, the setpoint, enabling, and drive status are
transmitted via the PROFIdrive frame.
The parameter ""Enable" = TRUE" is used to enable the technology object. The drive is
enabled according to the PROFIdrive standard.
If the tag <TO>.StatusDrive.InOperation shows the value TRUE , then the drive is ready
to execute setpoints. The "Status" parameter is set to the value TRUE .
and the axis is braked according to the selected "StopMode". The drive is disabled
according to the PROFIdrive standard.
Analog drive connection

The setpoint is output via an analog output. Optionally, you can configure an enabling signal
via digital output (<TO>.Actor.Interface.EnableDriveOutput), and a readiness signal via
digital input (<TO>.Actor.Interface.DriveReadyInput).
With the parameter "Enable" = TRUE, the enabling output ("Enable drive output") is set.
If the drive reports back the readiness signal via the ready input ("Drive ready input"),
then the "Status" parameter and the technology object's <TO>.StatusDrive.InOperation
tag are set to TRUE, and the setpoint is switched at the analog output.
and the axis is braked according to the selected "StopMode". When the setpoint zero is
reached, the enabling output is set to FALSE.
Additional information on enabling and disabling technology objects and drives can be found
in the appendix, MC_Power Function Charts (Page 388).
See also
Error ID (Page 386)

Instructions
11.2.1.2 MC_Power: Function chart V1
Function chart: Enabling a technology object, and example for alarm response
A technology object is enabled with "Enable_1= TRUE". Successful enabling can be read
from "Status_1" at time ①. The axis will then move with an "MC_MoveVelocity" job (A2). The
velocity profile of the axis can be read from "Velocity Axis_1".
At time ② an error occurs in the technology object, which results in the disabling of the
technology object (alarm response: Remove enable). The axis is braked depending on the
configuration in the drive, and is brought to a standstill. When the technology object is
disabled, Status_1 is reset. Since the axis was not disabled using "Enable_1" = FALSE, the
selected "StopMode" does not apply. The cause of the error is corrected and the alarm is
acknowledged at time ③.
Since "Enable_1" is still set, the technology object is enabled again. Successful enabling can
be read from "Status_1". Next the technology object is disabled with "Enable_1" = FALSE.

Instructions
11.2.2 MC_Home
11.2.2.1 MC_Home: Home technology objects, set home position V1
Description
With the Motion Control instruction "MC_Home", you create the relationship between the
position in the technology object and the mechanical position. The position value in the
technology object is assigned to a homing mark at the same time. This homing mark
represents a known mechanical position.
The homing process occurs according to the mode selected with the "HomingMode"
parameter, and the configuration under "Technology object > Configuration > Extended
parameters > Homing".
The preset values under "Technology object > Configuration > Extended parameters >
Dynamic default values" are used for the dynamic values Acceleration, Deceleration and
Jerk.
Applies to
The following table shows which modes are possible with each of the technology objects:
Operating mode Positioning axis with Positioning axis with External incremental External absolute
incremental encoder absolute encoder encoder encoder
Active homing X - - -
(HomingMode = 4, 5)
Passive homing X - X -
(HomingMode = 2, 3, 8)
Setting a positioning X X X X
value
("HomingMode" = 0)
Relative shift of the X X X X
actual value
("HomingMode" = 1)
Homing absolute en- - X - X
coder
("HomingMode" = 6, 7)

Instructions
Requirement
● "HomingMode" = 2, 3, 4, 5, 8
The technology object must be enabled.
● "HomingMode" = 0, 1, 2, 6, 7
The encoder values must be valid. (<TO>.StatusSensor[n].State = 2)
Override response
● An MC_Home job for passive homing is aborted by:
– Disabling the technology object by means of "MC_Power.Enable" = FALSE
– "MC_Home" job with parameter "HomingMode" = 4, 5, 9
● An "MC_Home" job for passive homing does not abort any other Motion Control jobs.
● An "MC_Home" job for active homing is aborted by:
– Disabling the technology object with "MC_Power.Enable" = FALSE
– "MC_Home" job "HomingMode" = 4, 5
– "MC_Halt" job
● An "MC_Home" job for active homing aborts the following running Motion Control jobs.
– "MC_Home" job with parameter "HomingMode" = 2, 3, 4, 5
– "MC_Halt" job

Instructions
Parameters
The following table shows the parameters of the "MC_Home" Motion Control instruction:

Position INPUT LREAL 0.0 The specified value is used according to the selected
"HomingMode".
HomingMode INPUT INT 4 Operating mode
0 Direct homing (absolute)
ject is set to the value of parameter "Posi-
tion".
1 Direct homing (relative)
ject is shifted by the value of parameter
"Position".
2 Passive homing
actual value is set to the value of the "Posi-
tion" parameter.
3 Passive homing
actual value is set to the home position
configured under "Technology object >
Configuration > Extended parameters >
Homing > Passive homing".
4 Active homing
The TO positioning axis performs a homing
movement according to the configuration.
After the completion of the movement, the
axis is positioned at the value of the "Posi-
tion" parameter.
5 Active homing
The TO positioning axis performs a homing
movement according to the configuration.
After completion of the movement, the axis
is positioned at the home position config-
ured under "Technology object > Configu-
ration > Extended parameters > Homing >
Active homing".

Instructions

6 Absolute encoder adjustment (relative)
The current position is shifted by the value
of the parameter "Position".
AbsEncoderOffset)
7 Absolute encoder adjustment (absolute)
The current position is set to the value of
the parameter "Position".
AbsEncoderOffset)
8 Passive homing
(without reset)
Functions like "HomingMode" 2, with the
difference that the "homed" status is not
reset when the function is enabled.
9 Canceling passive homing
A running job for passive homing is abort-
ed.
Done OUTPUT BOOL FALSE TRUE Job is completed
another job.
ter.

Instructions
Resetting the "Homed" status

The "Homed" status of a technology object is reset under the following conditions
(<TO>.StatusWord.X5 (HomingDone)):
● Technology objects with incremental actual values:
– Starting an "MC_Home" job with "HomingMode" = 2, 3, 4, 5
(After successful completion of the homing operation, the "Homed" status is reset.)
– Error in the encoder system, or encoder failure
– Restart of the technology object
– After POWER OFF -> POWER ON of the CPU
– Memory reset
● Technology objects with absolute actual values:
– Restoration of the CPU factory settings
– Replacement of the CPU
Homing a technology object with "HomingMode" = 1..8

To home a technology object, follow these steps:
2. Specify the desired homing function in the "HomingMode" parameter.
3. Initialize the necessary parameters with values, and start the homing operation with a
positive edge at the "Execute" parameter.
If the "Done" parameter shows the value TRUE, then the "MC_Home" job has been
completed according to the selected "HomingMode". The "Homed" status of the technology
object is indicated under "Technology object > Diagnostics > Status and error bits > Motion
status > Homed" (<TO>.StatusWord.X5 (HomingDone)).
Termination of a passive homing process with "HomingMode" = 9

With "HomingMode" = 9, the technology object is not homed. If a running "MC_Home" job for
passive homing ("HomingMode" = 2, 3, 8) is overridden by another "MC_Home" job with
"HomingMode" = 9, then the running job is terminated with the parameter
"CommandAborted" = TRUE. The overriding job with "HomingMode" = 9 signals successful
execution with the parameter "Done" = TRUE.

Instructions
See also
Error ID (Page 386)
11.2.3 MC_MoveJog
11.2.3.1 MC_MoveJog: Move axes in jog mode V1
Description
With the Motion Control instruction "MC_MoveJog", you can move an axis in jog mode.
● Positioning axis:
● Speed axis:
Applies to
● Speed axis
Requirement

Instructions
Override response
The "MC_MoveJog" job is aborted by:
● "MC_Home" job "HomingMode" = 4, 5
● "MC_Halt" job
Starting a "MC_MoveJog" job aborts the following active Motion Control jobs:
● "MC_Halt" job

Instructions
Parameters
The following table shows the parameters of the "MC_MoveJog" Motion Control instruction:

JogForward INPUT BOOL FALSE As long as the parameter is TRUE, the axis moves in
the positive direction at the velocity specified in pa-
rameter "Velocity".
JogBackward INPUT BOOL FALSE As long as the parameter is TRUE, the axis moves in
the negative direction at the velocity specified in
parameter "Velocity".
cess
Value < 0.0: The specified value is used.
another job.
ter.

Instructions

An "MC_MoveJog" job with "Velocity" = 0.0 stops the axis with the configured deceleration.
When the setpoint velocity / setpoint speed zero is reached, the parameter "InVelocity" will
indicate the value TRUE.
Moving an axis in jog mode

Proceed as follows to move an axis in jog mode:
2. Move the axis in the positive direction with "JogForward", or in the negative direction with
"JogBackward".
Note
deceleration. When the newly calculated velocity is reached ("Velocity" × "Override" %), then
"InVelocity" is set again.
See also
Error ID (Page 386)

Instructions
11.2.3.2 MC_MoveJog: Function chart V1
Function chart: Moving an axis in jog mode
The axis is moved in the negative direction in jog mode via "Jog_B". When the setpoint
velocity -50.0 is reached, this is signaled via "InVel" = TRUE. After "Jog_B" is reset, the axis
is braked and brought to a standstill. Then the axis is moved in the positive direction via
"Jog_F". When the setpoint velocity 50.0 is reached, this is signaled via "InVel" = TRUE.
At time ①, if "Jog_F" is set, the setpoint velocity is changed to 100.0 by means of
"Vel_Input". Alternatively, you can also change the setpoint velocity via the velocity override.
"InVel" is reset. The axis is being accelerated. When the new setpoint velocity 100.0 is
reached, this is signaled via "InVel" = TRUE.
If "Jog_F" is set, "Jog_B" is likewise set at time ②. If both "Jog_F" and "Jog_B" are set, then
the axis is braked with the last applicable deceleration. An error is indicated via "Error", and
the "ErrorID" of the error 16#8007 (incorrect direction specification) is output.

Instructions
This error is resolved by resetting the two inputs "Jog_F" and "Jog_B".
During the braking ramp, "Jog_F" is set at time ③. The axis is accelerated to the last
configured velocity. When the setpoint velocity 100.0 is reached, this is signaled via
"InVel" = TRUE.
11.2.4 MC_MoveVelocity
11.2.4.1 MC_MoveVelocity: Move axes at predefined specified velocity V1
Description
With the Motion Control instruction "MC_MoveVelocity", you can move an axis with a
constant velocity.
● Positioning axis:
● Speed axis:
Applies to
● Speed axis
Requirement

Instructions
Override response
The "MC_MoveVelocity" is aborted by:
● "MC_Halt" job
Starting a "MC_MoveVelocity" job aborts the following active Motion Control jobs:
● "MC_Halt" job

Instructions
Parameters
The following table shows the parameters of the "MC_MoveVelocity" Motion Control
instruction:

cess
0 The sign of the velocity specified at the
"Velocity" parameter defines the direction
of rotation.

Instructions

Current INPUT BOOL FALSE Maintain current velocity
FALSE Disabled
The values of parameters "Velocity" and
"Direction" are taken into account.
TRUE Enabled
The values at the parameters "Velocity"
and "Direction" are not taken into account.
The current velocity and direction at func-
tion start are retained.
When the axis resumes motion at the ve-
locity that was current at function start, the
"InVelocity" parameter returns the value
TRUE.
another job.
job. The cause of the error can be found in

An "MC_MoveVelocity" job with "Velocity" = 0.0 stops the axis with the configured
deceleration. When the setpoint velocity / setpoint speed zero is reached, the parameter
"InVelocity" will indicate the value TRUE.
The parameters "InVelocity" and "Busy" show the value TRUE, until the "MC_MoveVelocity"
job is overridden by another Motion Control job.

Instructions
Moving an axis with constant velocity / speed

Proceed as follows to move an axis with constant velocity / speed:
2. At the parameter "Velocity", specify the velocity / speed, with which the axis should be
moved.
3. Start the "MC_MoveVelocity" job with a positive edge at the parameter "Execute".
If the "InVelocity" parameter shows the value TRUE, then the setpoint velocity / setpoint
speed was reached. The axis continues moving at this constant velocity. The parameters
"InVelocity" and "Busy" show the value TRUE, until the "MC_MoveVelocity" job is overridden
by another Motion Control job.
Note
deceleration. When the newly calculated velocity / speed is reached ("Velocity" × "Override"
%), then "InVelocity" is reset.
See also
Error ID (Page 386)

Instructions
11.2.4.2 MC_MoveVelocity: Function chart V1
Function chart: Moving an axis with specification of velocity, and the response to an overriding job
A "MC_MoveVelocity" job (A1) initiated via "Exe_1" accelerates the axis and signals at time
① via "InVel_1" that the setpoint velocity 50.0 has been reached.
At time ②, the task is overridden via another "MC_MoveVelocity" job (A2). The abort is
signaled via "Abort_1". When the new setpoint velocity 15.0 is reached, this is signaled via
"InVel_2". The axis then continues moving at the constant velocity 15.0.

Instructions
The running "MC_MoveVelocity" job (A2) is overridden by another "MC_MoveVelocity" job

(A1). The abort is signaled via "Abort_2". The axis is accelerated to the new setpoint velocity
50.0. Before the setpoint velocity is reached, the current "MC_MoveVelocity" job A1) is
overridden at time ③ by another "MC_MoveVelocity" job A2). The abort is signaled via
"Abort_1". When the new setpoint velocity 15.0 is reached, this is signaled via "InVel_2". The
axis then continues moving at the constant velocity 15.0.
11.2.5 MC_MoveRelative
11.2.5.1 MC_MoveRelative: Relative positioning of axes V1
Description
With the Motion Control instruction "MC_MoveRelative", you can move an axis relative to the
position that exists at the beginning of job processing.
Applies to
Requirements

Instructions
Override response
The "MC_MoveRelative" job is aborted by:
● "MC_Halt" job
Starting a "MC_MoveRelative" job aborts the following active Motion Control jobs:
● "MC_Halt" job

Instructions
Parameters
The following table shows the parameters of the "MC_MoveRelative" Motion Control
instruction:

Axis
Distance INPUT LREAL 0.0 Distance for the positioning process
Done OUTPUT BOOL FALSE TRUE Target position reached
another job.

Instructions

ter.
Moving an axis relative to the starting position

Proceed as follows to move an axis relative to the starting position:
2. Specify distance to be moved in the "Distance" parameter.
3. Start the "MC_MoveRelative" job with a positive edge at the parameter "Execute".
See also
Error ID (Page 386)

Instructions
11.2.5.2 MC_MoveRelative: Function chart V1
Function chart: Relative positioning of an axis, and the response to an overriding job

Instructions
Section The axis is moved by an "MC_MoveRelative" job (A1) by the distance ("Distance") 1000.0 (the starting position
here is 0.0). When the axis reaches the target position, this is signaled at time ① via "Done_1". At this time ①,
another "MC_MoveRelative" job (A2) with distance 500.0 is started. When the axis reaches the new target posi-
tion, this is signaled via "Done_2". Since "Exe_2" was previously reset, "Done_2" is applied only to one cycle.
Section A running "MC_MoveRelative" job (A1) is overridden by another "MC_MoveRelative" job (A2). The abort is sig-
naled at time ② via "Abort_1". The axis is then moved at the new velocity by the distance ("Distance") 500.0.
When the new target position is reached, this is signaled via "Done_2".
11.2.6 MC_MoveAbsolute
11.2.6.1 MC_MoveAbsolute: Absolute positioning of axes V1
Description
With the Motion Control instruction "MC_MoveAbsolute", you can move an axis to an
absolute position.
Applies to
Requirements
● The technology object is homed.

Instructions
Override response
The "MC_MoveAbsolute" job is aborted by:
● "MC_Halt" job
Starting a "MC_MoveAbsolute" job aborts the following active Motion Control jobs:
● "MC_Halt" job

Instructions
Parameters
The following table shows the parameters of the "MC_MoveAbsolute" Motion Control
instruction:

Axis
Position INPUT REAL 0.0 Absolute target position
Is only evaluated with "modulo" enabled.
"Technology object > Configuration > Basic parame-
ters > Enable modulo
3 Shortest path
Done OUTPUT BOOL FALSE TRUE Target position reached.

Instructions

another job.
ter.
Moving an axis to an absolute position

Proceed as follows to move an axis to an absolute position:
2. Specify the desired target position at the "Position" parameter.
3. Start the "MC_MoveAbsolute" job with a positive edge at the parameter "Execute".
See also
Error ID (Page 386)

Instructions
11.2.6.2 MC_MoveAbsolute: Function chart V1
Function chart: Absolute positioning of an axis, and the response to an overriding job

Instructions
Section An axis is moved to absolute position 1000.0 with an "MC_MoveAbsolute" job (A1). When the axis reaches the
target position, this is signaled at time ① via "Done_1". At this time ①, another "MC_MoveAbsolute" job (A2)
with target position 1500.0 is started. When the axis reaches the target position 1500.0, this is signaled via
"Done_2". Since "Exe_2" was previously reset, "Done_2" is applied only to one cycle.
Section A running "MC_MoveAbsolute" job (A1) is overridden at time ② by another "MC_MoveAbsolute" job (A2). The
abort is signaled via "Abort_1". The axis is braked to the changed velocity and moved to the new target position
11.2.7 MC_Halt
11.2.7.1 MC_Halt: Stop axes V1
Description
With the Motion Control instruction "MC_Halt", you can brake an axis to a standstill.
Dynamic behavior during the braking process is defined with the parameters "Jerk" and
"Deceleration".
Applies to
● Speed axis
Requirement

Instructions
Override response
The "MC_Halt" job is aborted by:
● "MC_Halt" job
Starting a "MC_Halt" job aborts the following active Motion Control jobs:
● "MC_Halt" job

Instructions
Parameters
The following table shows the parameters of the "MC_Halt" Motion Control instruction:

Done OUTPUT BOOL FALSE TRUE Zero velocity reached
another job.
ter.
Braking an axis with "MC_Halt"

Proceed as follows to decelerate an axis to a standstill:
2. Supply the parameters "Deceleration" and "Jerk" with the desired values.
3. Start the "MC_Halt" job with a positive edge at the parameter "Execute".
The current motion state is indicated in "Busy", "Done" and "Error". The standstill of the axis
is indicated under "Technology object > Diagnostics > Status and error bits > Motion status >
Standstill" (<TO>.StatusWord.X7 (Standstill)).

Instructions
See also
Error ID (Page 386)

Instructions
11.2.7.2 MC_Halt: Function chart V1
Function chart: Stopping an axis, and the response to an overriding job
Section An axis is moved with an "MC_MoveVelocity" job (A1). When the setpoint velocity 50.0 is reached, this is sig-
naled via "InVel_1". At time ①, the "MC_MoveVelocity" job is overridden by an "MC_Halt" job (A2). The job
termination is signaled via "Abort_1". The axis is braked to a standstill. Successful completion of the "MC_Halt"
job is signaled via "Done_2".
Section The axis is moved with an "MC_MoveVelocity" job (A1). When the setpoint velocity 50.0 is reached, this is
signaled via "InVel_1". Next the "MC_MoveVelocity" job is overridden by an "MC_Halt" job (A2). The job termi-
nation is signaled via "Abort_1". During the braking process the "MC_Halt" job is overridden at time ② by an
"MC_MoveVelocity" job (A1). The job termination is signaled via "Abort_2". When the setpoint velocity 50.0 is
reached, this is signaled via "InVel_1". The axis is then moved with constant velocity.

Instructions
11.2.8 MC_Reset
11.2.8.1 MC_Reset: Acknowledge alarms, restart technology objects V1
Description
All technology alarms that can be acknowledged in the user program are acknowledged with
the Motion Control instruction "MC_Reset". Acknowledgment also resets the "Error" and
"Warning" bits in the technology data block.
Technology objects are reinitialized (restarted) using the Motion Control instruction
"MC_Reset" with "Restart" = TRUE. Upon restart of the technology object, the new
configuration data are applied in the technology data block.
Applies to
● Speed axis
Requirements
● The cause of the error for a pending technology alarm has been resolved.
● For a restart, the technology object must be disabled.
("MC_Power.Status" = FALSE and "MC_Power.Busy" = FALSE)
Override response
● Parameter "Restart" = FALSE:
Processing of the instruction "MC_Reset" can be aborted by other Motion Control jobs.
The MC_Reset job does not abort any running Motion Control jobs.
● Parameter "Restart" = TRUE:
The processing of the instruction "MC_Reset" with parameter "Restart" = TRUE cannot
be aborted by any other Motion Control job.

Instructions
Parameters
The following table shows the parameters of the "MC_Reset" Motion Control instruction:

Restart INPUT BOOL FALSE TRUE "Restart"
Reinitialization of the technology object and ac-
knowledgment of pending technology alarms. The
technology object is reinitialized with the config-
ured start values.
FALSE Acknowledgement of queued technology alarms.
Done OUTPUT BOOL FALSE TRUE Error has been acknowledged.
Restart has been executed.
Comman- OUTPUT BOOL FALSE TRUE During execution the job was aborted by another
dAborted job.
Error OUTPUT BOOL FALSE TRUE An error occurred during execution of the job. The
job is rejected. The cause of the error can be
found in the "ErrorID" parameter.

To acknowledge technology alarms, follow these steps:
2. Set the parameter "Restart" = FALSE.
3. Start the acknowledgement of the error with a positive edge at parameter "Execute".
If the Done parameter shows the value TRUE, then the error was acknowledged.
Note
Acknowledging with "Restart" = FALSE
If only the technology alarms are to be acknowledged, set "Restart" = FALSE. The
technology object cannot be used during a restart.

Instructions

Proceed as follows to restart a technology object:
2. Set the parameter "Restart" = TRUE.
3. Perform the restart with a positive edge at the input parameter "Execute".
If the "Done" parameter shows the value TRUE, then the restart of the technology object has
been completed.
Additional information on a restart can be found in the Restarting Technology Objects
(Page 197) section.
See also
Error ID (Page 386)

Appendix A
A.1 Tags of the technology object SpeedAxis
A.1.1 Legend
Tag Name of the tag

Data type Data type of the tag
Values Value range of the tag - minimum value to maximum value
If no specific value is shown, the value range limits of the relevant data type apply or the information under
"Description".
W Effectiveness of changes in the technology data block
DIR Immediate:
Changes to the value are made with a direct assignment and are immediately effective.
RES Restart:
Changes to the start value in load memory are made using the extended instruction "WRIT_DBL"
(write to DB in load memory). Changes will not take effect until after restart of the technology object.
RON Read only:
The tag cannot and must not be changed.
Description Description of the tag
L - Linear specification R - Rotary specification
Access to the tags is with "<TO>.<tag name>". The placeholder <TO> represents the name
of the technology object.
A.1.2 Actual values and setpoints (speed axis)

The following tags indicate the setpoint and actual values of the technology object.
Tags
Legend (Page 321)
Tag Data type Values W Description

Velocity LREAL - RON Setpoint velocity / setpoint speed
ActualSpeed LREAL - RON Actual speed of the motor
Acceleration LREAL - RON Setpoint acceleration

Appendix
A.1.3 Variable simulation (speed axis)

The tag structure <TO>.Simulation.<tag name> contains the configuration for the simulation
signal. In simulation mode, you can simulate axes without a real drive in the CPU.
Tags
Legend (Page 321)

Simualtion. STRUCT
Mode DINT - RES Simulation mode
0: no simulation, normal operation
1: Simulation mode
A.1.4 Actor tags (speed axis)

The tag structure <TO>.Actor.<tag name> contains the controller-side configuration for the
drive.
Tags
Legend (Page 321)

Actor. STRUCT
Type DINT - RON Drive connection
1: PROFIdrive frame
0: Analog output
InverseDirection BOOL - RES Inversion of the setpoint
FALSE: no
TRUE: yes
Interface. STRUCT
AddressIn UDINT 0 to 65535 RON Input address for the PROFIdrive frame
AdressOut UDINT 0 to 65535 RON Output address for the PROFIdrive frame or the
analog setpoint
Telegram UDINT - RON PROFIdrive frame of the drive
1: NSET (16 bit), NACT (16 bit)
2: NSET (32 bit), NACT (32 bit), signs of life
3: NSET (32 bit), NACT (32 bit), actual encoder
value, signs of life
5: NSETP (32-bit), NACT (32-bit), actual encoder
value, sign-of-life, DSC
(NSET - setpoint speed, NACT - actual speed value)

Appendix

EnableDriveOutput BOOL - RON "Enable output" for analog drives
FALSE: disabled
TRUE: enabled
EnableDrive UDINT 0 to 65535 RON Byte number for the "enable output"
OutputAddress
EnableDrive UDINT 0 to 7 RON Bit number for the "enabling output"
OutputBitNumber
DriveReadyInput BOOL - RON "Ready input" for analog drives
The analog drive signals its readiness to receive
setpoint speeds.
FALSE: disabled
TRUE: enabled
DriveReady UDINT 0 to 65535 RON Byte number for the "ready input"
InputAddress
DriveReady UDINT 0 to 7 RON Bit number for the "ready input"
InputBitNumber
DriveParameter.
ReferenceSpeed LREAL 0.0 to 1.0E12 RES Reference value (100%) for the setpoint speed of the
drive (N-set)
The setpoint speed is transmitted in the PROFIdrive
frame as a standardized value from -200% to 200%
of the "ReferenceSpeed".
For setpoint specification via an analog output, the
analog output can be operated in the range from -
117% to 117%, insofar as the drive permits this.
MaxSpeed LREAL 0.0 to 1.0E12 RES Maximum value for the setpoint speed of the drive
(N-set)
Analog setpoint: MaxSpeed ≤ 1.17 × Refer-
enceSpeed)
A.1.5 LoadGear tags (speed axis)

The tag structure <TO>.LoadGear.<tag name> contains the configuration for the load gear.
Tags
Legend (Page 321)
Tag Data type Value range W Description

LoadGear. STRUCT
Numerator UDINT 1 to RES Load gear counter
4294967295
Denominator UDINT 1 to RES Load gear denominator
4294967295

Appendix
A.1.6 DynamicLimits tags (speed axis)

The tag structure <TO>.DynamicLimits.<tag name> contains the configuration of the
dynamic limits. During Motion Control, no dynamic values greater than the dynamic limits are
permitted. If you have specified greater values in a Motion Control instruction, then motion is
performed using the dynamic limits, and a warning is indicated (alarm 501 to 503 - Dynamic
values were limited).
Tags
Legend (Page 321)

DynamicLimits. STRUCT
MaxVelocity LREAL 0.0 to 1.0E12 RES Maximum permissible velocity of the axis
MaxAcceleration LREAL 0.0 to 1.0E12 DIR Maximum permissible acceleration of the axis
MaxDeceleration LREAL 0.0 to 1.0E12 DIR Maximum permissible deceleration of the axis
MaxJerk LREAL 0.0 to 1.0E12 DIR Maximum permissible jerk on the axis
A.1.7 DynamicDefaults tags (speed axis)

The tag structure <TO>.DynamicDefaults.<tag name> contains the configuration of the
dynamic defaults. These settings will be used, if you specify a dynamic value less than 0.0 in
a Motion Control instruction (exceptions: MC_MoveJog.Velocity, MC_MoveVelocity.Velocity).
Changes to the dynamic defaults will be applied with the next rising edge at the "Execute"
parameter of a Motion Control instruction.
Tags
Legend (Page 321)

DynamicDefaults. STRUCT
Velocity LREAL 0.0 to 1.0E12 DIR Default velocity
Acceleration LREAL 0.0 to 1.0E12 DIR Default acceleration
Deceleration LREAL 0.0 to 1.0E12 DIR Default deceleration
Jerk LREAL 0.0 to 1.0E12 DIR Default jerk
EmergencyDeceleration LREAL 0.0 to 1.0E12 DIR Emergency stop deceleration

Appendix
A.1.8 Override tags (speed axis)

The tag structure <TO>.Override.<tag name> contains the configuration for the override
parameters. The override parameters are used to apply a correction percentage to default
values. An override change takes effect immediately, and is performed with the dynamic
settings in effect in the Motion Control instruction.
Tags
Legend (Page 321)

Override. STRUCT
Velocity LREAL 0.0 to 200.0% DIR Velocity or speed override
Percentage correction of the velocity/speed
A.1.9 StatusDrive tags (speed axis)

The tag structure <TO>.StatusDrive.<tag name> indicates the status of the drive.
Tags
Legend (Page 321)

StatusDrive. STRUCT
InOperation BOOL - RON Operational status of the drive
FALSE: Drive not ready. Setpoints will not be exe-
cuted.
TRUE: Drive ready. Setpoints can be executed.
CommunicationOK BOOL - RON Cyclic BUS communication between controller and
drive
FALSE: Not established
TRUE: Established
Error BOOL - RON FALSE: No error at the drive
TRUE: Error at the drive

Appendix
A.1.10 StatusWord tag (speed axis)

The <TO>.StatusWord tag contains the status information of the technology object.
Notes on the evaluation of the individual bits (e.g. bit 0, "Enable") can be found in the
Evaluating StatusWord, ErrorWord and WarningWord (Page 175) section.
Tag
Legend (Page 321)

Status DWORD - RON Status data of the technology object
tus-
Word
Bit 0 - - - "Enable"
Enable status
0: Technology object disabled
1: Technology object enabled
Bit 1 - - - "Error"
0: No error present
1: Error present
Bit 2 - - - "RestartActive"
0: No "Restart" active
1: "Restart" active. The technology object is being reinitialized.
Bit 3 - - - "OnlineStartValuesChanged"
0: "Restart" tag unchanged
1: Change to "Restart" tag. For the changes to be applied, the
technology object must be reinitialized.
Bit 4 - - - "ControlPanelActive"
Axis control panel
0: disabled
1: enabled
Bit 5 - - - Reserved
Bit 6 - - - "Done"
0: Motion job in process, or axis control panel enabled
1: No motion job in process and axis control panel disabled
Bit 9 - - - "JogCommand"
0: No "MC_MoveJog" frame active
1: "MC_MoveJog" job active
Bit 10 - - - "VelocityCommand"
0: No "MC_MoveVelocity" job active
1: "MC_MoveVelocity" job active

Appendix

Bit 12 - - - "ConstantVelocity"
0: The axis accelerates or decelerates.
1: Velocity setpoint reached. The axis is traversing at this constant
velocity or is at a standstill.
Bit 13 - - - "Accelerating"
0: No acceleration process active
1: Acceleration process active
Bit 14 - - - "Decelerating"
0: No deceleration process active
1: Deceleration process active
Bit - - - Reserved
15...
Bit 31

Appendix
A.1.11 ErrorWord tag (speed axis)

The <TO>.ErrorWord tag indicates errors at the technology object (technology alarms).
Notes on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can be
found in the section Evaluating StatusWord, ErrorWord and WarningWord (Page 175)
section.
Tag
Legend (Page 321)

ErrorWord DWORD - RON
Bit 0 - - - "SystemFault"
System error
Bit 1 - - - "ConfigurationFault"
Configuration error
Bit 2 - - - "UserFault"
Error in the user program in a motion control instruction, or in its
use
Bit 3 - - - "CommandNotAccepted"
Command cannot be executed.
A Motion Control command cannot be executed, because neces-
sary preconditions are not met.
Bit 4 - - - "DriveFault"
Error in the drive
Bit 6 - - - "DynamicError"
Specified dynamic values are limited to permissible values.
Bit 7 - - - "CommunicationFault"
Communication error
Missing or faulty communication.
Bit 13 - - - "PeripheralError"
Error accessing a logical address
Bit 14... - - - Reserved
Bit 31

Appendix
A.1.12 ErrorDetail tags (speed axis)

The tag structure <TO>.ErrorDetail.<tag name> contains the alarm number and the effective
local alarm reaction to the technology alarm that is currently pending at the technology
object.
Tags
Legend (Page 321)

ErrorDetail. STRUCT
Number UDINT - RON Alarm number
Reaction DINT 0 to 5 RON Effective alarm reaction
0: No reaction
1: Stop with current dynamic values
3: Stop with emergency stop ramp
4: Remove enable
5: Follow-up setpoints
For the external encoder technology object, only
alarm reactions 0 and 4 are possible.

Appendix
A.1.13 WarningWord tag (speed axis)

The <TO>.WarningWord tag indicates pending warnings at the technology object.
Notes on the evaluation of the individual bits (e.g. bit 11, "FollowingErrorWarning") can be
Tag
Legend (Page 321)

Warning- DWORD - RON
Word
Configuration error
One or several configuration parameters are adjusted internally.
Bit 31

Appendix
A.1.14 ControlPanel tags (speed axis)

The tag structure <TO>.ControlPanel.<tag name> contains no application-relevant data. This
tag structure is internally used.
Tags
Legend (Page 321)

ControlPanel. STRUCT
Input. STRUCT
Command. ARRAY
[1..2] OF
STRUCT
ReqCounter UDINT - DIR -
Type UDINT - DIR -
Position LREAL - DIR -
Velocity LREAL - DIR -
Acceleration LREAL - DIR -
Deceleration LREAL - DIR -
Jerk LREAL - DIR -
Param LREAL - DIR -
TimeOut LREAL - DIR -
EsLifeSign UDINT - DIR -
Output. STRUCT
Command. ARRAY
[1..2] OF
STRUCT
AckCounter UDINT - RON -
Error BOOL - RON -
ErrorID UDINT - RON -
Done BOOL - RON -
Aborted BOOL - RON -
RTLifeSign UDINT - RON -

Appendix
A.2 Tags of the positioning axis/synchronous axis technology object
A.1.15 InternalToTrace tags (speed axis)

The tag structure <TO>.InternalToTrace.<tag name> contains no application-relevant data.
This tag structure is internally used.
Tags
Legend (Page 321)

InternalToTrace. ARRAY
[1..4] OF
STRUCT
Id DINT - DIR -
Value LREAL - RON -
A.2.1 Legend
Tag Name of the tag

If no specific value is shown, the value range limits of the relevant data type apply or the information
under "Description".
DIR Immediate:
RES Restart:
Changes to the start value in load memory are made using the extended instruction
"WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of
RON Read only:

Appendix
A.2.2 Actual values and setpoints (positioning axis/synchronous axis)

Tags
Legend (Page 332)

Position LREAL - RON Setpoint position
Velocity LREAL - RON Setpoint velocity / setpoint speed
ActualPosition LREAL - RON Actual position
ActualVelocity LREAL - RON Actual velocity
ActualSpeed LREAL - RON Actual speed of the motor
Acceleration LREAL - RON Setpoint acceleration
ActualAcceleration LREAL - RON Actual acceleration
A.2.3 Simulation tag (positioning axis / synchronous axis)

The tag structure <TO>.Simulation.<tag name> contains the configuration for the simulation
signal. In simulation mode, you can simulate axes without a real drive in the CPU.
Tags
Legend (Page 332)

Simualtion. STRUCT
Mode DINT - RES Simulation mode
0: no simulation, normal operation
1: Simulation mode

Appendix
A.2.4 Actor tags (positioning axis/synchronous axis)

The tag structure <TO>.Actor.<tag name> contains the controller-side configuration for the
drive.
Tags
Legend (Page 332)

Actor. STRUCT
Type DINT - RON Drive connection
1: PROFIdrive frame
0: Analog output
InverseDirection BOOL - RES Inversion of the setpoint
FALSE: no
TRUE: yes
Interface. STRUCT
AdressOut UDINT 0 to 65535 RON Output address for the PROFIdrive frame or the
analog setpoint
Telegram UDINT - RON PROFIdrive frame of the drive
1: NSET (16 bit), NACT (16 bit)
2: NSET (32 bit), NACT (32 bit), signs of life
3: NSET (32 bit), NACT (32 bit), actual encoder
value, signs of life
5: NSETP (32-bit), NACT (32-bit), actual encoder
value, sign-of-life, DSC
(NSET - setpoint speed, NACT - actual speed
value)
EnableDriveOutput BOOL - RON "Enable output" for analog drives
FALSE: disabled
TRUE: enabled
EnableDrive UDINT 0 to 65535 RON Byte number for the "enable output"
OutputAddress
EnableDrive UDINT 0 to 7 RON Bit number for the "enabling output"
OutputBitNumber
DriveReadyInput BOOL - RON "Ready input" for analog drives
The analog drive signals its readiness to receive
setpoint speeds.
FALSE: disabled
TRUE: enabled
DriveReadyIn- UDINT 0 to 65535 RON Byte number for the "ready input"
putAddress
DriveReadyInput UDINT 0 to 7 RON Bit number for the "ready input"
BitNumber

Appendix

DriveParameter.
ReferenceSpeed LREAL 0.0 to 1.0E12 RES Reference value (100%) for the setpoint speed of
the drive (N-set)
The setpoint speed is transmitted in the
PROFIdrive frame as a standardized value from -
200% to 200% of the "ReferenceSpeed".
For setpoint specification via an analog output,
the analog output can be operated in the range
from -117% to 117%, insofar as the drive permits
this.
MaxSpeed LREAL 0.0 to 1.0E12 RES Maximum value for the setpoint speed of the
drive (N-set)
Analog setpoint: MaxSpeed ≤ 1.17 × Refer-
enceSpeed)
See also
Evaluating the technology data block (Page 173)

Appendix
A.2.5 Sensor[n] tags (positioning axis/synchronous axis)

The tag structure <TO>.Sensor[n].<tag name> contains the controller end configuration for
the encoder, and the configuration for active and passive homing.
Tags
Legend (Page 332)

Sensor[n]. ARRAY
[1..1] OF
STRUCT
Type DINT - RES Encoder type
0: Incremental
1: Absolute
2: Cyclically absolute
InverseDirection BOOL - RES Inversion of the actual value
FALSE: no
TRUE: yes
System DINT - RES Encoder system
0: Linear encoder
1: Rotary encoder
MountingMode DINT - RES Mounting type of the encoder
0: Incremental
1: Absolute
2: External
Interface.
AddressOut UDINT 0 to 65535 RON Output address for the PROFIdrive frame
Telegram UDINT - RON PROFIdrive frame of the encoder
3: Actual values via drive frame
(NSET (32 bit), NACT (32 bit), actual encoder value,
signs of life)
5: Actual values from drive frame
(NSETP (32-bit), NACT (32-bit), actual encoder
value, sign-of-life, DSC)
81: Actual values via your own encoder telegram
(actual encoder value, signs of life)
(NACT (32 bit), actual encoder value, signs of life)
For the technology object of external encoders, only
frames 81 and 83 are valid.
Parameter.
Resolution LREAL 1.0E-12 to RES Resolution of a linear encoder (offset between two
1.0E12 encoder pulses)
StepsPer UDINT 1 to 8388608 RES Increments per rotary encoder revolution
Revolution

Appendix

FineResolution UDINT 0 to 31 RES Number of bits for fine resolution Gn_XIST1
Xist1 (cyclic actual encoder value)
FineResolution UDINT 0 to 31 RES Number of bits for fine resolution Gn_XIST2
Xist2 (absolute value of the encoder)
Determinable UDINT 0 to 8388608 RES Number of differentiable encoder revolutions for a
Revolutions multi-turn absolute value encoder
(For a single-turn absolute value encoder = 1;
for an incremental encoder = 0)
DistancePer LREAL 0.0 to 1.0E12 RES Load distance per revolution of an externally mount-
Revolution ed encoder
ActiveHoming. STRUCT
Mode DINT - RES Homing mode
0: Homing mark only
1: Homing mark and proximity switch
2: Digital input
SideInput BOOL - DIR Side of the digital input for active homing:
FALSE: Negative side
TRUE: Positive side
Direction DINT - DIR Homing direction / homing mark approach direction
1: Positive homing direction
2: Negative homing direction
HomePosition LREAL -1.0E12 to DIR Home position offset
Offset 1.0E12
Digital UDINT 0 to 65535 RON Byte number of the digital input
InputAddress
DigitalInput UDINT 0 to 7 RON Bit number of the digital input
BitNumber
PassiveHoming. STRUCT
0: Homing mark only
2: Digital input
SideInput BOOL - DIR Side of the digital input for passive homing:
TRUE: Positive side
0: Current homing direction
Digi- UDINT 0 to 65535 RON Byte number of the digital input
talInputAddress
BitNumber
See also

Appendix
A.2.6 LoadGear tags (positioning axis/synchronous axis)

Tags
Legend (Page 332)

LoadGear. STRUCT
4294967295
4294967295
A.2.7 Mechanics tags (positioning axis/synchronous axis)

The tag structure <TO>.Mechanics.<tag name> contains the configuration of the mechanics.
Tags
Legend (Page 332)

Mechanics. STRUCT
LeadScrew LREAL 0.0 to 1.0E12 RES Leadscrew pitch
A.2.8 Properties tags (positioning axis/synchronous axis)

The tag structure <TO>.Properties.<tag name> contains the configuration for the axis or type
of motion.
Tags
Legend (Page 332)

Properties. STRUCT
MotionType DINT - RON Indication of axis or motion type:
0: Linear axis or motion
1: Rotary axis or motion

Appendix
A.2.9 Modulo tags (positioning axis/synchronous axis)

The tag structure <TO>.Modulo.<tag name> contains the modulo configuration.
Tags
Legend (Page 332)

Modulo. STRUCT
Enable BOOL - RES FALSE: Modulo conversion disabled
TRUE: Modulo conversion enabled
When modulo conversion is enabled, a check is
made for modulo length > 0.0
Length LREAL 0.001 to 1.0E12 RES Modulo length
StartValue LREAL -1.0E12 to RES Modulo start value
1.0E12
See also
A.2.10 DynamicLimits tags (positioning axis/synchronous axis)

The tag structure <TO>.DynamicLimits.<tag name> contains the configuration of the
dynamic limits. During Motion Control, no dynamic values greater than the dynamic limits are
permitted. If you have specified greater values in a Motion Control instruction, then motion is
performed using the dynamic limits, and a warning is indicated (alarm 501 to 503 - Dynamic
values were limited).
Tags
Legend (Page 332)

DynamicLimits. STRUCT
MaxVelocity LREAL 0.0 to 1.0E12 RES Maximum permissible velocity of the axis
MaxAcceleration LREAL 0.0 to 1.0E12 DIR Maximum permissible acceleration of the axis
MaxDeceleration LREAL 0.0 to 1.0E12 DIR Maximum permissible deceleration of the axis
MaxJerk LREAL 0.0 to 1.0E12 DIR Maximum permissible jerk on the axis
See also

Appendix
A.2.11 DynamicDefaults tags (positioning axis/synchronous axis)

The tag structure <TO>.DynamicDefaults.<tag name> contains the configuration of the
dynamic defaults. These settings will be used, if you specify a dynamic value less than 0.0 in
a Motion Control instruction (exceptions: MC_MoveJog.Velocity, MC_MoveVelocity.Velocity).
Changes to the dynamic defaults will be applied with the next rising edge at the "Execute"
parameter of a Motion Control instruction.
Tags
Legend (Page 332)

DynamicDefaults. STRUCT
Velocity LREAL 0.0 to 1.0E12 DIR Default velocity
Acceleration LREAL 0.0 to 1.0E12 DIR Default acceleration
Deceleration LREAL 0.0 to 1.0E12 DIR Default deceleration
Jerk LREAL 0.0 to 1.0E12 DIR Default jerk
EmergencyDeceleration LREAL 0.0 to 1.0E12 DIR Emergency stop deceleration
See also
A.2.12 PositionLimits_SW tags (positioning axis/synchronous axis)

The tag structure <TO>.PositionLimits_SW.<tag name> contains the configuration for
position monitoring with software limit switches. Software limit switches are used to limit the
operating range of a positioning axis.
Tags
Legend (Page 332)

PositionLimits_SW. STRUCT
Active BOOL - DIR FALSE: Monitoring disabled
TRUE: Monitoring enabled
MinPosition LREAL -1.0E12 to DIR Position of negative software limit switches
1.0E12
MaxPosition LREAL -1.0E12 to DIR Position of positive software limit switches
1.0E12 ("MaxPosition" > "MinPosition")
See also

Appendix
A.2.13 PositionLimits_HW tags (positioning axis/synchronous axis)

The tag structure <TO>.PositionLimits_HW.<tag name> contains the configuration for
position monitoring with hardware limit switches. Hardware limit switches are used to limit
the traversing range of a positioning axis.
Tags
Legend (Page 332)

PositionLimits_HW. STRUCT
Active BOOL - RES FALSE: Monitoring disabled
TRUE: Monitoring enabled
With "Active", both (negative and positive) hardware
limit switches are enabled or disabled.
MinSwitchLevel BOOL - RES Level selection for enabling of the negative hardware
limit switch:
FALSE: Lower level (low-enabled)
TRUE: Upper level (high-enabled)
MinSwitchAddress UDINT 0 to 65535 RON Byte number for the negative hardware limit switch
MinSwitchBitNumber UDINT 0 to 7 RON Bit number for the negative hardware limit switch
MaxSwitchLevel BOOL - RES Level selection for enabling of the positive hardware
limit switch:
FALSE: Lower level (low-enabled)
TRUE: Upper level (high-enabled)
MaxSwitchAddress UDINT 0 to 65535 RON Byte number for the positive hardware limit switch
MaxSwitchBitNumber UDINT 0 to 7 RON Bit number for the positive hardware limit switch
See also

Appendix
A.2.14 Homing tags (positioning axis/synchronous axis)

The tag structure <TO>.Homing.<tag name> contains the configuration for homing the TO.
Tags
Legend (Page 332)

Homing. STRUCT
AutoReversal BOOL - RES Reversal at the hardware limit switches
FALSE: no
TRUE: yes
ApproachDirection BOOL - DIR Direction of approach to the homing position switch
TRUE: Positive direction
ApproachVelocity LREAL L: DIR Approach velocity
0.0 to Velocity during active homing, with which the axis
10000.0 mm/s moves toward the proximity switch and toward home
R: position.
0.0 to
360000.0°/s
ReferencingVelocity LREAL L: DIR Homing velocity
0.0 to Velocity during active homing, with which the axis is
1000.0 mm/s moved toward home position.
R:
0.0 to
36000.0°/s
HomePosition LREAL -1.0E12 to DIR Home position
1.0E12
See also

Appendix
A.2.15 Override tags (positioning axis/synchronous axis)

The tag structure <TO>.Override.<tag name> contains the configuration for the override
parameters. The override parameters are used to apply a correction percentage to default
values. An override change takes effect immediately, and is performed with the dynamic
settings in effect in the Motion Control instruction.
Tags
Legend (Page 332)

Override. STRUCT
Velocity LREAL 0.0 to 200.0% DIR Velocity or speed override
See also

Appendix
A.2.16 PositionControl tags (positioning axis/synchronous axis)

The tag structure <TO>.PositionControl.<tag name> contains the settings for position
control.
Tags
Legend (Page 332)

PositionControl. STRUCT
Kv LREAL 0.0 to DIR Proportional gain in the position control

2147480.0 ("Kv" > 0.0)
Kpc LREAL 0.0 to 150.0% DIR Velocity pre-control in the position control
Recommended setting:
• Isochronous drive connection via PROFIdrive:
100.0%
• Non-isochronous drive connection via
PROFIdrive:
0.0 to 100.0%
• Analog drive connection:
0.0 to 100.0%
EnableDSC BOOL - RES Dynamic Servo Control (DSC)
FALSE: DSC disabled
TRUE: DSC enabled
DSC is only possible if frame 5 is used.
See also

Appendix
A.2.17 FollowingError tags (positioning axis/synchronous axis)

The tag structure <TO>.FollowingError.<tag name> contains the configuration for following
error monitoring.
If the permissible following error is exceeded, then technology alarm 521 is output, and the
technology object is disabled (alarm reaction: remove enable).
When the warning level is reached, a warning is output (technology alarm 522).
Tags
Legend (Page 332)

FollowingError. STRUCT
EnableMonitoring BOOL - RES FALSE: Following error monitoring disabled
TRUE: Following error monitoring enabled
MinValue LREAL L: DIR Permissible following error at velocities below the value of
0.0 to "MinVelocity".
1.0E12
R:
0.001 to
1.0E12
MaxValue LREAL L: DIR Maximum permissible following error, which may be
0.0 to reached at the maximum velocity.
1.0E12
R:
0.002 to
1.0E12
MinVelocity LREAL 0.0 to DIR "MinValue" is permissible below this velocity, and is held
1.0E12 constant.
WarningLevel LREAL 0.0 to DIR Warning level:
100.0 Percentage value relative to the valid maximum following
error.
See also

Appendix
A.2.18 PositionMonitoring tags (positioning axis/synchronous axis)

The tag structure <TO>.PositioningMonitoring.<tag name> contains the configuration for
position monitoring at the end of a positioning motion.
If the actual position value at the end of a positioning motion is reached within the tolerance
time and remains in the positioning window for the minimum dwell time, then
<TO>.StatusWord.X5 (Done) is set in the technology data block. This completes a Motion
Control job.
If the tolerance time is exceeded, then technology alarm 541 "Positioning monitoring" with
supplemental value 1: "Target area not reached within the positioning tolerance time" will be
indicated.
If the minimum dwell time is not met, then technology alarm 541 "Positioning monitoring"
with supplemental value 2: "Target area exited within the minimum dwell time" will be
indicated.
Tags
Legend (Page 332)

PositioningMonitoring. STRUCT
ToleranceTime LREAL 0.0 to 1.0E12 DIR Tolerance time
Maximum permitted duration from reaching velocity
setpoint zero, until entrance into the positioning
window.
MinDwellTime LREAL 0.0 to 1.0E12 DIR Minimum dwell time in the positioning window:
Window LREAL 0.0 to 1.0E12 DIR Positioning window
See also

Appendix
A.2.19 StandstillSignal tags (positioning axis/synchronous axis)

The tag structure <TO>.StandstillSignal.<tag name> contains the configuration for the
standstill signal.
If the actual velocity value is below the velocity threshold, and does not exceed it during the
minimum dwell time, then the standstill signal <TO>.StatusWord.X7 (Standstill) is set.
Tags
Legend (Page 332)

StandstillSignal. STRUCT Configuration for the standstill signal
VelocityThreshold LREAL 0.0 to 1.0E12 DIR Velocity threshold

If velocity is below this threshold, then the minimum
dwell time begins.
MinDwellTime LREAL 0.0 to 1.0E12 DIR Minimum dwell time
See also
A.2.20 StatusPositioning tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusPositioning.<tag name> indicates the status of a positioning
motion.
Tags
Legend (Page 332)

StatusPositioning. STRUCT
Distance LREAL - RON Distance to the target position
TargetPosition LREAL - RON Target position
FollowingError LREAL - RON Current following error
See also

Appendix
A.2.21 StatusDrive tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusDrive.<tag name> indicates the status of the drive.
Tags
Legend (Page 332)

StatusDrive. STRUCT
InOperation BOOL - RON Operational status of the drive
FALSE: Drive not ready. Setpoints will not be exe-
cuted.
TRUE: Drive ready. Setpoints can be executed.
drive
TRUE: Established
Error BOOL - RON FALSE: No error at the drive
TRUE: Error at the drive
See also

Appendix
A.2.22 StatusSensor[n] tags (positioning axis/synchronous axis)

The tag structure <TO>.StatusSensor[n].<tag name> indicates the status of the measuring
system.
Tags
Legend (Page 332)

StatusSensor[n]. ARRAY
[1..1] OF
STRUCT
State DINT - RON Status of the actual encoder value:
0: "NOT_VALID (not valid)
1: "Waiting_FOR_VALID (waiting for valid status)
2: "VALID (valid)
encoder
TRUE: Established
Error BOOL - RON FALSE: No error in the measuring system
TRUE: Error in the measuring system.
AbsEncoderOffset LREAL - RON Home point offset to the value of an absolute value
encoder. The value will be retentively stored in the
CPU.
See also

Appendix
A.2.23 StatusSynchronizedMotion tags (synchronous axis)

The tag structure <TO>.StatusSynchronizedMotion.<tag name> indicates the status of the
synchronous operation.
Tags
Legend (Page 332)

StatusSynchronizedMotion. STRUCT
ActualMaster DB_ANY - RON When a "MC_GearIn" job is started, the number of
the technology data block of the currently used
leading axis is displayed.
"ActualMaster" = 0 with disabled synchronous op-
eration
See also
Synchronous operation (Page 73)

Appendix
A.2.24 StatusWord tag (positioning axis/synchronous axis)

Notes on the evaluation of the individual bits (e.g. bit 5, "HomingDone") can be found in the
Tag
Legend (Page 332)

Status- DWORD - RON Status data of the technology object
Word
Enable status
Bit 1 - - - "Error"
0: No error present
1: Error present
1: Change to "Restart" tag. For the changes to be applied, the technolo-
gy object must be reinitialized.
Bit 4 - - - "ControlPanelActive"
Axis control panel
0: disabled
1: enabled
Bit 5 - - - "HomingDone"
Homing status
0: Technology object not homed
1: Technology object homed
Bit 6 - - - "Done"
Bit 7 - - - "Standstill"
Standstill signal
0: Axis in motion
1: Axis at a standstill
Bit 8 - - - "PositioningCommand"
0: No positioning job active
1: Positioning job active ("MC_MoveReleative", "MC_MoveAbsolute")
Bit 9 - - - "JogCommand"
0: No "MC_MoveJog" frame active
1: "MC_MoveJog" job active

Appendix

Bit 10 - - - "VelocityCommand"
0: No "MC_MoveVelocity" job active
1: "MC_MoveVelocity" job active
Bit 11 - - - "HomingCommand"
0: No "MC_Home" job in process
1: "MC_Home" job in process
Bit 12 - - - "ConstantVelocity"
0: The axis accelerates or decelerates.
1: Velocity setpoint reached. The axis is traversing at this constant veloc-
ity or is at a standstill.
Bit 13 - - - "Accelerating"
0: No acceleration process active
1: Acceleration process active
Bit 14 - - - "Decelerating"
0: No deceleration process active
1: Deceleration process active
Bit 15 - - - "SWLimitMinActive"
0: Negative software limit switch not reached
1: Negative software limit switch reached or exceeded
Bit 16 - - - "SWLimitMaxActive"
0: Positive software limit switch not reached
1: Positive software limit switch reached or exceeded
Bit 17 - - - "HWLimitMinActive"
0: Negative hardware limit switch not reached
1: Negative Hardware limit switch reached or exceeded
Bit 18 - - - "HWLimitMaxActive"
0: Positive hardware limit switch not reached
1: Positive hardware limit switch reached or exceeded
Bit 21 - - - Positioning axis technology object:
Reserved
Synchronous axis technology object:
"Synchronizing"
0: The axis does not synchronize to a master value.
1: The axis synchronizes to a master value.
Reserved
"Synchronous"
0: The axis does not move synchronously to a master value.
1: The axis moves synchronously to a master value.

Appendix

Bit 23 - - - "SuperimposedMotionCommand"
0: No superimposed motion active
1: Superimposed motion active
Bit 31
See also
A.2.25 ErrorWord tag (positioning axis/synchronous axis)

Notes on the evaluation of the individual bits (e.g. bit 3, CommandNotAccepted) can be
Tag
Legend (Page 332)

System error
Configuration error
Error in the user program in a motion control instruction, or in its use
A Motion Control command cannot be executed, because necessary
preconditions are not met.
Bit 4 - - - "DriveFault"
Error in the drive
Bit 5 - - - "SensorFault"
Error in the encoder system
Communication error

Appendix

Bit 8 - - - "SWLimit"
Software limit switch reached or overshot.
Bit 9 - - - "HWLimit"
Hardware limit switch reached or overshot.
Bit 10 - - - "HomingFault"
Error during homing process
The homing cannot be completed.
Bit 11 - - - "FollowingErrorFault"
Following error limits exceeded
Bit 12 - - - "PositioningFault"
Positioning error
Reserved
"SynchronousError"
Error during synchronous operation
The leading axis specified at the Motion Control instruction "MC_GearIn"
was not configured as a possible leading axis.
Bit 31
See also

Appendix
A.2.26 ErrorDetail tags (positioning axis/synchronous axis)

object.
Tags
Legend (Page 332)

ErrorDetail. STRUCT
0: No reaction
4: Remove enable
See also
Technology alarms (Page 215)

Appendix
A.2.27 WarningWord tag (positioning axis/synchronous axis)

Tag
Legend (Page 332)

Word
Configuration error
A Motion Control command cannot be executed, because necessary
preconditions are not met.
Bit 11 - - - "FollowingErrorWarning"
Warning level of the following error monitoring reached / exceeded
Bit 31
See also

Appendix
A.2.28 ControlPanel tags (positioning axis/synchronous axis)

The tag structure <TO>.ControlPanel.<tag name> contains no application-relevant data. This
tag structure is internally used.
Tags
Legend (Page 332)

ControlPanel. STRUCT
Input. STRUCT
Command. ARRAY
[1..2] OF
STRUCT
ReqCounter UDINT - DIR -
Type UDINT - DIR -
Position LREAL - DIR -
Velocity LREAL - DIR -
Acceleration LREAL - DIR -
Deceleration LREAL - DIR -
Jerk LREAL - DIR -
Param LREAL - DIR -
TimeOut LREAL - DIR -
EsLifeSign UDINT - DIR -
Output. STRUCT
Command. ARRAY
[1..2] OF
STRUCT
AckCounter UDINT - RON -
Error BOOL - RON -
ErrorID UDINT - RON -
Done BOOL - RON -
Aborted BOOL - RON -
RTLifeSign UDINT - RON -
See also

Appendix
A.3 Tags of the technology object external encoder
A.2.29 InternalToTrace tags (positioning axis/synchronous axis)

Tags
Legend (Page 332)

InternalToTrace. ARRAY
[1..4] OF
STRUCT
Id DINT - DIR -
Value LREAL - RON -
See also
A.3.1 Legend
Tag Name of the tag

If no specific value is shown, the value range limits of the relevant data type apply or the information
under "Description".
DIR Immediate:
RES Restart:
Changes to the start value in load memory are made using the extended instruction
"WRIT_DBL" (write to DB in load memory). Changes will not take effect until after restart of
RON Read only:

Appendix
A.3.2 Actual values and setpoints (external encoder)

Tags
Legend (Page 358)

ActualPosition LREAL - RON Actual position
ActualVelocity LREAL - RON Actual velocity
ActualAcceleration LREAL - RON Actual acceleration
A.3.3 Sensor tags (external encoder)

The tag structure <TO>.Sensor.<tag name> contains the CPU-side configuration for the
encoder, and the configuration for active and passive homing.
Tags
Legend (Page 358)

Sensor. STRUCT
Type DINT - RES Encoder type
0: Incremental
1: Absolute
2: Cyclically absolute
InverseDirection BOOL - RES Inversion of the actual value
FALSE: no
TRUE: yes
System DINT - RES Encoder system
0: Linear encoder
1: Rotary encoder
MountingMode DINT - RES Mounting type of the encoder
0: Incremental
1: Absolute
2: External

Appendix

Interface.
AddressOut UDINT 0 to 65535 RON Output address for the PROFIdrive frame
Telegram UDINT - RON PROFIdrive frame of the encoder
3: Actual values via drive frame
(NSET (32 bit), NACT (32 bit), actual encoder value,
signs of life)
5: Actual values from drive frame
(NSETP (32-bit), NACT (32-bit), actual encoder
value, sign-of-life, DSC)
(actual encoder value, signs of life)
(NACT (32 bit), actual encoder value, signs of life)
For the technology object of external encoders, only
frames 81 and 83 are valid.
Parameter.
Resolution LREAL 1.0E-12 to RES Resolution of a linear encoder (offset between two
1.0E12 encoder pulses)
StepsPer UDINT 1 to 8388608 RES Increments per rotary encoder revolution
Revolution
FineResolution UDINT 0 to 31 RES Number of bits for fine resolution Gn_XIST1 (cyclic
Xist1 actual encoder value)
FineResolution UDINT 0 to 31 RES Number of bits for fine resolution Gn_XIST2 (abso-
Xist2 lute value of the encoder)
Determinable UDINT 0 to 8388608 RES Number of differentiable encoder revolutions for a
Revolutions multi-turn absolute value encoder
(For a single-turn absolute value encoder = 1;
for an incremental encoder = 0)
DistancePer LREAL 0.0 to 1.0E12 RES Load distance per revolution of an externally mount-
Revolution ed encoder
PassiveHoming. STRUCT
0: Homing mark only
2: Digital input
SideInput BOOL - DIR Side of the digital input for passive homing:
TRUE: Positive side
0: Current homing direction
Digital UDINT 0 to 65535 RON Byte number of the digital input
InputAddress
BitNumber

Appendix
A.3.4 Mechanics tags (external encoder)

The tag structure <TO>.Mechanics.<tag name> contains the configuration of the mechanics.
Tags
Legend (Page 358)

Mechanics.
LeadScrew LREAL 0.0 to 1.0E12 RES Leadscrew pitch
A.3.5 LoadGear tags (external encoder)

Tags
Legend (Page 358)

LoadGear. STRUCT
4294967295
4294967295
A.3.6 Properties tags (external encoder)

The tag structure <TO>.Properties.<tag name> contains the configuration for the axis or type
of motion.
Tags
Legend (Page 358)

Properties.
MotionType DINT - RON Indication of axis or motion type:
0: Linear axis or motion
1: Rotary axis or motion

Appendix
A.3.7 Modulo tags (external encoder)

The tag structure <TO>.Modulo.<tag name> contains the modulo configuration.
Tags
Legend (Page 358)

Modulo. STRUCT
Enable BOOL - RES FALSE: Modulo conversion disabled
TRUE: Modulo conversion enabled
When modulo conversion is enabled, a check is
made for modulo length > 0.0
Length LREAL 0.001 to 1.0E12 RES Modulo length
StartValue LREAL -1.0E12 to RES Modulo start value
1.0E12
A.3.8 Homing tags (external encoder)

The tag structure <TO>.Homing.<tag name> contains the configuration for homing the TO.
Tags
Legend (Page 358)

Homing. STRUCT
HomePosition LREAL -1.0E12 to DIR Home position
1.0E12

Appendix
A.3.9 StatusSensor tags (external encoder)

The tag structure <TO>.StatusSensor.<tag name> indicates the status of the measuring
system.
Tags
Legend (Page 358)

StatusSensor. STRUCT
State DINT - RON Status of the actual encoder value:
0: "NOT_VALID (not valid)
1: "Waiting_FOR_VALID (waiting for valid status)
2: "VALID (valid)
encoder
TRUE: Established
Error BOOL - RON FALSE: No error in the measuring system
TRUE: Error in the measuring system.
AbsEncoderOffset LREAL - RON Home point offset to the value of an absolute value
encoder. The value will be retentively stored in the
CPU.

Appendix
A.3.10 StatusWord tag (external encoder)

Notes on the evaluation of the individual bits (e.g. bit 5, "HomingDone") can be found in the
Tag
Legend (Page 358)

Status- DWORD - RON Status data of the technology object
Word
Enable status
Bit 1 - - - "Error"
0: No error present
1: Error present
1: Change to "Restart" tag. For the changes to be applied, the
technology object must be reinitialized.
Bit 5 - - - "HomingDone"
Homing status
0: Technology object not homed
1: Technology object homed
Bit 6 - - - "Done"
Bit 8 - - Reserved
Bit 11 - - - "HomingCommand"
0: No "MC_Home" job in process
1: "MC_Home" job in process
Bit 31

Appendix
A.3.11 ErrorWord tag (external encoder)

Notes on the evaluation of the individual bits (e.g. bit 3 "CommandNotAccepted") can be
found in the section Evaluating StatusWord, ErrorWord and WarningWord (Page 175).
Tag
Legend (Page 358)

System error
Configuration error
Error in the user program in a motion control instruction, or in its
use
Bit 5 - - - "SensorFault"
Error in the encoder system.
Communication error
Bit 10 - - - "HomingFault"
Error during homing process
The homing cannot be completed.
Bit 31

Appendix
A.3.12 ErrorDetail tags (external encoder)

object.
Tags
Legend (Page 358)

ErrorDetail. STRUCT
0: No reaction
4: Remove enable

Appendix
A.3.13 WarningWord tag (external encoder)

Tag
Legend (Page 358)

Word
Configuration error
Bit 31
A.3.14 InternalToTrace tags (external encoder)

Tags
Legend (Page 358)

InternalToTrace. ARRAY [1..4]
OF STRUCT
Id DINT - DIR -
Value LREAL - RON -

Appendix
A.4 Technology alarms
A.4.1 Overview
The following table shows an overview of the technology alarms and the corresponding
alarm reactions. When a technology alarm occurs, evaluate the entire indicated alarm text, in
order to find the precise cause.
Legend
No. Number of the technology alarm

(corresponds to <TO>.ErrorDetail.Number)
Response Effective alarm reaction
(corresponds to <TO>.ErrorDetail.Reaction)
Error bit Bit that is set in <TO>.ErrorWord when the technology alarm occurs
Warning bit Bit that is set in <TO>.WarningWord when the technology alarm occurs
Restart To acknowledge the technology alarm, the technology object must be reinitialized
(restart).
Alarm text Indicated alarm test (limited)
List of the technology alarms
No. Response Error bit Warning bit Restart Alarm text

101 Remove enable X1 (Configuration- - X Error in the configuration.
Fault)
104 Stop with maximum X1 (Configuration- - - Error in the specification of software limit
dynamic values Fault) switches.
105 Remove enable X1 (Configuration- - X Configuration mode (drive/actuator).
Fault)
106 Remove enable X1 (Configuration- - X Configuration error in the drive actuator
Fault) driver.
107 Remove enable X1 (Configuration- - X Configuration error encoder.
Fault)
108 Remove enable X1 (Configuration- - X Configuration error encoder driver.
Fault)
109 Remove enable X1 (Configuration- - - Configuration error.
Fault)
110 No reaction - X1 - Configuration is being internally adapted.
(Configuration-
Fault)
201 Remove enable X0 (SystemFault) - - Internal error.
202 No reaction X0 (SystemFault) - - Internal configuration error.
203 Remove enable X0 (SystemFault) - - Internal error. Please contact customer
service.

Appendix

204 Remove enable X0 (SystemFault) - - Commissioning error.
304 Stop with emergency X2 (UserFault) - - Limit value for velocity is zero.
stop ramp
305 Stop with emergency X2 (UserFault) - - Limit value for acceleration/deceleration
stop ramp is zero.
306 Stop with emergency X2 (UserFault) - - Limit value for jerk is zero.
stop ramp
307 Stop with maximum X2 (UserFault) - - The numeric value range of the position
dynamic values was reached.
308 Remove enable X2 (UserFault) - - The numeric value range of the position
was exceeded.
321 Stop with emergency X3 (Command- - - Axis is not homed.
stop ramp NotAccepted)
322 No reaction - X3 (Command- - Restart not performed.
NotAccepted)
323 No reaction - X3 (Command- - MC_Home was not executed because
NotAccepted) this would result in the numerical value
range being exceeded.
341 Remove enable X10 (HomingFault) - - Error in homing data.
342 Stop with emergency X10 (HomingFault) - - Reference cam / encoder zero mark was
stop ramp not found.
401 Remove enable X13 (Peripheral - - Error accessing logical address.
Error)
411 Remove enable X5 (SensorFault) - - Encoder at the logical address disrupted.
412 Remove enable X5 (SensorFault) - - Violation of the range limit for the incre-
mental actual value.
421 Remove enable X4 (DriveFault) - - Drive/actuator at the logical address
disrupted.
431 Remove enable X7 - - Communication with device disrupted.
(Communication-
Fault)
501 No reaction - X6 - Programmed velocity limited.
(DynamicError)
502 No reaction - X6 - Programmed acceleration/deceleration
(DynamicError) limited.
503 No reaction - X6 - Programmed jerk limited.
(DynamicError)
504 No reaction - X6 - Speed setpoint monitoring active.
(DynamicError)
521 Remove enable X11 (Following - - Window of the following error monitoring
ErrorFault) exceeded.
522 No reaction X11 (Following- Warning level of the following error moni-
ErrorWarning) toring exceeded

Appendix

531 Remove enable X9 (HWLimit) - - • Positive HW limit switch reached.
• Negative HW limit switch reached.
• Incorrect traverse direction with ac-
tive hardware limit switch
531 Remove enable X9 (HWLimit) - X • Hardware limit switch polarity is re-
versed, axis cannot be freed
• Both hardware limit switches are
active, axis cannot be freed
533 Stop with maximum X8 (SWLimit) - - Software limit switch reached.
dynamic values
534 Remove enable X8 (SWLimit) - - Software limit switch passed.
541 Remove enable X12 (Postioning- - - Positioning monitoring error.
Fault)
550 Follow-up setpoints X4 (DriveFault) - - The drive performs a autonomous
movement.
601 Stop with maximum X14 - - The lead axis specified at the
dynamic values (Synchronous MC_GearIn.Master parameter is not
Error) configured or not available.
See also
Technology alarms (Page 215)

Appendix
A.4.2 Technology alarms 101-110
Technology alarm 101

Alarm reaction: Remove enable
Restart: required
Alarm text Solution

Error in the configuration
Faulty load gear factors. Adjust the specified value.
Illegal value for the configuration data Actor.DriveParameter.MaxSpeed. Adjust the specified value.
Illegal value for the configuration data DynamicLimits.MaxVelocity. Adjust the specified value.
Illegal value for the configuration data maximum acceleration in Dynam- Adjust the specified value.
icLimits.MaxAcceleration.
The set leadscrew pitch is invalid. Illegal value in Mechanics.Leadscrew Adjust the specified value.
Illegal combination of data for homing with incremental encoder. Adjust the specified value.
The set mounting position of the encoder is invalid. Illegal value in Sen- Adjust the specified value.
sor.MountingMode.
The configuration of the measuring wheel circumference of the encoder is invalid. Adjust the specified value.
Illegal value in Sensor.Parameter.DistancePerRevolution.
The configuration for the resolution of the linear encoder is faulty. Illegal value in Adjust the specified value.
Sensor.Parameter.Resolution.
The set resolution of the encoder is invalid. Illegal value in Sen- Adjust the specified value.
sor.Parameter.StepsPerRevolution.
The set fine resolution for Gn_XIST1 is invalid. Illegal value in Sen- Adjust the specified value.
sor.Parameter.FineResolutionXist1.
The set fine resolution for Gn_XIST1 in Sensor.Parameter.FineResolutionXist1 is not Adjust the specified value.
consistent with the setting in PROFIdrive parameter P979.
Illegal value for the configuration data Actor.Interface.Telegram. Adjust the specified value.
The set encoder type is invalid. Illegal value in Sensor.Type. Adjust the specified value.
The set encoder system is invalid. Invalid value in Sensor.System. Adjust the specified value.
The set home position offset is invalid. Illegal value in Sen- Adjust the specified value.
sor.ActiveHoming.HomePositionOffset.
Parameter of position monitoring faulty. Illegal value in PositioningMonitoring.Window. Adjust the specified value.
Parameter of position monitoring faulty. Illegal value in PositioningMonitoring.Window. Adjust the specified value.
The set home position offset is invalid. Illegal value in Sensor.ActiveHoming.Mode. Adjust the specified value.
The set home position offset is invalid. Illegal value in Sensor.PassiveHoming.Mode. Adjust the specified value.
The configuration of the PROFIdrive interface of the actual value is faulty. Illegal Adjust the specified value.
value in Sensor.Interface.Telegram.
Faulty controller factors. Adjust the specified value.
Limit for standstill signal is faulty. Illegal value in StandStillSignal.VelocityThreshold. Adjust the specified value.
Parameter of position monitoring faulty. Invalid value in PositioningMonitor- Adjust the specified value.
ing.ToleranceTime.
Illegal value in Actor.Type. Adjust the specified value.
Inconsistent PROFIBUS parameterization; the sum of Ti and To is greater than one Adjust the specified value.
DP cycle clock.

Appendix
Alarm text Solution

Parameter of standstill monitoring faulty. Invalid value in StandStillSig- Adjust the specified value.
nal.MinDwellTime.
Parameter of the following error monitoring faulty. Illegal value in Adjust the specified value.
FollowingError.MaxValue.
Drive or message frame type not suitable for DSC. Adjust the specified value.
Illegal value for the configuration data maximum jerk in DynamicLimits.MaxJerk. Adjust the specified value.
Illegal value for the configuration data maximum deceleration in Adjust the specified value.
DynamicLimits.MaxAcceleration.
Illegal value in Modulo.Length. Adjust the specified value.
Illegal value in Modulo.StartValue. Adjust the specified value.
Illegal value in Actor.DriveParameter.ReferenceSpeed. Adjust the specified value.
The set fine resolution for Gn_XIST2 is invalid. Illegal value in Sen- Adjust the specified value.
sor.Parameter.FineResolutionXist2.
The number of determinable encoder revolutions is invalid. Invalid value in Adjust the specified value.
Sensor.Parameter.DeterminableRevolutions.
The specified approach direction of the homing mark for passive homing is invalid. Adjust the specified value.
Invalid value in Sensor.PassiveHoming.Direction.
Illegal value in DynamicDefaults.Velocity. Adjust the specified value.
Invalid value in DynamicDefaults.Acceleration. Adjust the specified value.
Illegal value DynamicDefaults.Deceleration. Adjust the specified value.
Illegal value in DynamicDefaults.Jerk. Adjust the specified value.
Illegal value in DynamicDefaults.EmergencyDeceleration. Adjust the specified value.
Illegal value in PositionLimits_SW.MinPosition. Adjust the specified value.
Illegal value in PositionLimits_SW.MaxPosition. Adjust the specified value.
The specified approach direction of the homing mark for active homing is invalid. Adjust the specified value.
Invalid value in Sensor.PassiveHoming.Direction.
Illegal value in Homing.ApproachVelocity. Adjust the specified value.
Illegal value in Homing.ReferencingVelocity. Adjust the specified value.
Illegal value in Homing.HomePosition. Adjust the specified value.
FollowingError.MaxValue.
FollowingError.MinVelocity.
FollowingError.WarningLevel.
Controller parameter is incorrect. Illegal value of the pre-control factor Adjust the specified value.
PositionControl.Kpc
TimeOut parameter outside the permissible limits. Adjust the specified value.
Simulation.Mode parameter outside the permissible limits. Adjust the specified value.

Appendix

Alarm reaction: Stop with maximum dynamic values
Restart: Not required
Alarm text Solution

Error in the specification of software limit switches.
Negative switch greater than positive switch when axis is not Change the position of the software limit switches.
modulo axis.

Restart: required
Alarm text Solution

Configuration mode (drive/actuator).
Configuration error. Connect a suitable device. Check the device (I/Os).
Compare the configuration in HW Config and the tech-
nology object.
The driver needs a smaller servo cycle clock. Connect a suitable device. Check the device (I/Os).
nology object.
Error in internal communication. Check the project for consistency and reload it into the
controller.

Restart: required
Alarm text Solution

Configuration error in the drive actuator driver.
System has no communication with drive. Internal system error.
Check the project for consistency and reload it into the
controller.
Actuator driver not initialized during ramp-up. To release a technology object, the actuator drivers
must be finished initializing. Initiate the job again later.

Appendix

Restart: required
Alarm text Solution

Configuration error encoder.
Configuration error. Connect a suitable device.
The driver needs a smaller servo cycle clock. Check the device (I/Os).
nology object.
Error in internal communication. Check the project for consistency and reload it into the
controller.

Restart: required
Alarm text Solution

Configuration error encoder driver.
System has no communication with encoder. Internal system error.
Check the project for consistency and reload it into the
controller.
Encoder driver not initialized during ramp-up. An attempt is being made to release an axis or encoder,
although the driver is not finished initializing.

Alarm text Solution

Configuration error. Connect a suitable device.
Negative hardware limit switch. Check the device (I/Os).
Positive hardware limit switch. nology object.
Reference cam active homing.
Reference cam passive homing.
Enable drive bit analog drive interface
Drive ready bit of the analog drive interface

Appendix

Alarm reaction: No reaction
Alarm text Solution

Configuration is being internally adapted.
Illegal value for Actor.MaxSpeed (Actor.MaxSpeed greater Correct the reference value in the drive as well as in the
than 2*Actor.Reference Speed; Actor.MaxSpeed is set to configuration of the technology object on
2*Actor.Reference Speed. Actor.MaxSpeed/2. For the analog drive connection,
correct the reference value in the drive as well as in the
configuration of the technology object on
Actor.MaxSpeed/1.17.
The delay time to reach the tolerance window of positioning Change the configuration datum.
monitoring (PositionMonitoring.ToleranceTime) is limited.
The emergency deceleration (Dynam-
icDefaults.EmergencyDeceleration) is too low and is set to the
minimum value possible.

Alarm text Solution

Internal error. Contact the hotline.

Alarm text Solution

Internal configuration error. Contact the hotline.

Alarm text Solution

Internal error. Please contact customer service. Contact the hotline.

Appendix

Alarm text Solution

Commissioning error
Sign-of-life failure between controller and TIA Portal. Check the connection properties.

Alarm reaction: Stop with emergency stop ramp
Alarm text Solution

Limit value for velocity is zero. Enter a non-zero value for the maximum speed
(DynamicLimits.MaxVelocity) in the dynamic limits.

Alarm text Solution

Limit value for acceleration/deceleration is zero.
Acceleration Enter a non-zero value for the maximum acceleration
(DynamicLimits.MaxAcceleration) in the dynamic limits.
Deceleration Enter a non-zero value for the maximum deceleration
(DynamicLimits.MaxDeceleration) in the dynamic limits.

Alarm text Solution

Limit value for jerk is zero. Enter a non-zero value for the maximum jerk
(DynamicLimits.MaxJerk) in the dynamic limits.

Appendix

Alarm text Solution

The numeric value range of the position was reached.
Negative Enable the "Modulo" setting for the technology object.
Positive Enable the "Modulo" setting for the technology object.

Alarm text Solution

The numeric value range of the position was exceeded.
Negative Enable the "Modulo" setting for the technology object.
Positive

Alarm text Solution

Axis is not homed. To perform absolute positioning, you need to home the
technology object.

Alarm text Solution

Restart not performed.
The technology object is not ready for restart. Download the project again.
Condition for restart of the technology object is not satisfied Disable the technology object.
(e.g. technology object must be disabled).

Appendix

Alarm text Solution

MC_Home was not executed because this would result in the Enable the "Modulo" setting for the technology object.
numerical value range being exceeded. Enter a valid position value for the use of MC_Home
instruction.

Alarm text Solution

Error in homing data.
The approach velocity is zero. Homing.ApproachVelocity. Check the configuration for homing (Homing.Approach
Velocity)
The homing velocity is zero. Homing.ReferencingVelocity. Check the configuration for homing
(Homing.ReferencingVelocity)

Alarm text Solution

Reference cam / encoder zero mark was not found. Connect a suitable device.
Check the device (I/Os).
nology object.

Appendix

Alarm text Solution

Error accessing logical address.
The requested logical address is invalid. Connect a suitable device. Check the device (I/Os).
The requested logical output address is invalid. Check the topological configuration in HW Config.
The requested logical output address is invalid. nology object.

Alarm text Solution

Encoder at the logical address disrupted.
Alarm message from encoder. Check the device in regard to function, connections and
General hardware error of the encoder. I/Os.
Encoder dirty.
Error reading the absolute value of the encoder. Compare the encoder type in the drive or encoder pa-
rameter P979 with the configuration data of the technol-
ogy object.
Zero mark monitoring of the encoder. Encoder reports error for the zero mark monitoring (error
code 0x0002 in Gx_XIST2, see PROFIDrive profile).
Check the system for electromagnetic compatibility
(EMC).
Encoder has gone in parking state. Locate the cause of the error in the connected drive or
encoder. Check whether the alarm was possibly trig-
gered by a startup action on the drive or encoder.

Appendix

Alarm text Solution

Violation of the range limit for the incremental actual value.
Range violation in positive direction. Home the axis/encoder to a valid actual value range.
Range violation in negative direction.
The change of the actual position in a position control clock Adjust the modulo length of the employed encoder.
cycle is greater than the modulo length.

Alarm text Solution

Drive/actuator at the logical address disrupted. Check the device in regard to function, connections and
Alarm message from drive. I/Os.
PROFIdrive: Drive signal "Control requested" failed.

PROFIdrive: Drive has shut down.

Alarm text Solution

Communication with device disrupted.
PROFIdrive: Drive at bus failed (station failure). Check the device in regard to function, connections and
I/Os.
PROFIdrive: Signs of life of drive faulty. Check the device in regard to function, connections and
I/Os.
Compare the clock parameters of HW Config
(PROFIBUS line, slave OM for drive or encoder) and the
execution system. Tmapc and servo must be configured
in the same clock cycle time.
(Incorrect parameterization is indicated by reason
0x0080)
PROFIdrive: Encoder at bus failed (station failure). Check the device in regard to function, connections and
I/Os.
PROFIdrive: Signs of life of encoder faulty. Check the device in regard to function, connections and
I/Os. Compare the clock parameters of HW Config
(PROFIBUS line, slave OM for drive or encoder) and the
execution system. Tmapc and servo must be configured
in the same clock cycle time.

Appendix

Alarm text Solution

Programmed velocity limited. Check the value for the speed of the Motion Control
instruction.
Check the configuration of the dynamic limits.

Alarm text Solution

Programmed acceleration/deceleration limited.
Acceleration Check the value for the acceleration of the Motion Con-
trol instruction.
Deceleration Check the value for the deceleration of the Motion Con-
trol instruction. Check the configuration of the dynamic
limits.

Alarm text Solution

Programmed jerk limited. Check the value for the jerk of the Motion Control in-
struction.

Appendix

Alarm text Solution

Speed setpoint monitoring active. Check the mechanical configuration.
Check the encoder connection.
Check the configuration of the speed setpoint interface.
Check the configuration of the control loop.
Check the value for the maximum speed
DynamicLimits.MaxVelocity.
Enter a value ≤ Actor.MaxSpeed for the "Velocity"
parameter at the Motion Control instruction.

Alarm text Solution

Window of the following error monitoring exceeded. Check the configuration of the control loop.
Check the direction of the encoder.
Check configuration of the following error monitoring.

Alarm text Solution

Warning level of the following error monitoring exceeded Check the configuration of the control loop.
Check the direction of the encoder.
Check configuration of the following error monitoring.

Appendix

Restart: See "Restart" column
Alarm text Solution Restart
Positive HW limit switch reached. Acknowledge the alarm. -

Movements in the negative direction are al-
lowed after acknowledgment.
Negative HW limit switch reached. Acknowledge the alarm. Movements in the -
positive direction are allowed after acknowl-
edgment.
Incorrect traverse direction with active hardware limit switch The programmed motion direction is disabled -
due to the active hardware limit switch. Retract
the axis in the opposite direction.
Hardware limit switch polarity is reversed, axis cannot be Check the mechanical configuration of the X
freed hardware limit switch.
Both hardware limit switches are active, axis cannot be freed Check the mechanical configuration of the X
hardware limit switch.

Alarm text Solution

Software limit switch reached.
Negative .The software limit switch has been approached from an
ongoing movement.
Acknowledge the alarm.
Move the axis in the positive direction away from the
software limit switch.
Positive The software limit switch has been approached from an
ongoing movement. Acknowledge the alarm. Move the
axis in the negative direction away from the software
limit switch.

Appendix

Alarm text Solution

Software limit switch passed.
Negative The software limit switch was exceeded.
Movements in the positive direction are allowed after
acknowledgment.
Positive The software limit switch was exceeded. Acknowledge
the alarm. Movements in the negative direction are al-
lowed after acknowledgment.

Alarm text Solution

Positioning monitoring error.
Target range not reached. The target range was not reached within the positioning
tolerance time.
Check the configuration of the positioning monitoring.
Check configuration of the control loop..
Exit target range again. The target area was exited within the minimum dwell
time. Check the configuration of the positioning monitor-
ing. Check configuration of the control loop.

Alarm reaction: Follow-up setpoints
Alarm text Solution

The drive performs a autonomous movement. When the SS2 signal is no longer present in the drive,
the drive goes automatically into standby mode
(<TO>.StatusDrive.InOperation = TRUE).
The technology object is automatically released after
acknowledgment.

Appendix
A.4.7 Technology alarm 601

Alarm text Solution

The lead axis specified at the MC_GearIn.Master parameter is Specify all master value interconnections for the configu-
not configured or not available. ration required in operation for the synchronous axis
technology object.
If a restart is performed for a lead axis in synchronous
operation, the alarm is displayed and the following axis
is stopped with the maximum dynamic values.
Acknowledge the alarm after restarting the lead axis and
restart the synchronization.

Appendix
A.5 Error ID
A.5 Error ID
Errors in Motion Control instructions are reported by means of "Error" and "ErrorID"
parameters.
Under the following conditions, "Error" = TRUE and "ErrorID" = 16#8xxx are indicated at the
Motion Control instruction:
● Invalid status of the technology object, which prevents the execution of the job.
● Invalid parameter assignment of the Motion Control instruction, which prevents the
execution of the job.
● As a result of the alarm reaction for an error at the technology object.
ErrorIDs and remedies

The following table lists all "ErrorIDs" that can be indicated in Motion Control instructions.
Along with the cause of the error, the table lists corresponding troubleshooting routines:
ErrorID Description Solution

16#0000 No error -
16#8001 A technology alarm (TO error) occurred In the technology data block, an error message is output at
while processing the Motion Control instruc- the "ErrorDetail.Number" tag.
tion. A list of the technology alarms and alarm reactions can be
found in the appendix, Technology Alarms (Page 368).
16#8002 Invalid value in the "Axis" parameter. Check the value in the "Axis" parameter
16#8003 Invalid velocity Set a valid velocity value at parameter "Velocity".
16#8004 Invalid acceleration Set a valid acceleration value at parameter "Acceleration".
16#8005 Invalid deceleration Set a valid deceleration value at parameter "Deceleration".
16#8006 Invalid jerk Set a valid jerk value at parameter "Jerk".
16#8007 Invalid direction Set a valid directional value at parameter "Direction".
When the axis is at a standstill,

"Direction" = 4 (current direction) is not per-
mitted.
Invalid input Reset both the "JogForward" parameter and the "JogBack-
Both the "JogForward" and "JogBackward" ward" parameter.
parameters set to TRUE at the same time.
The axis decelerates with the most recently
valid deceleration.
16#8008 Invalid distance specification Set a valid distance value at parameter "Distance".
16#8009 Invalid position specification Set a valid position value at parameter "Position".
16#800A Invalid operating mode Set a valid operating mode at parameter "Mode".
16#800B Invalid stop mode Set a valid stop mode at parameter "StopMode".
16#800C Only one instance of the "MC_Power" in- A technology object was specified in several instances of the
struction is allowed per technology object. "MC_Power" instruction, in the "Axis" parameter. Ensure that
the technology object is only specified in one "MC_Power"
instruction.

Appendix
A.5 Error ID
ErrorID Description Solution

16#800D Job not permitted in current mode. "Restart" Wait until the "Restart" of the technology object is complete.
is being executed.
16#800E If the axis is activated, a "Restart" is not Before a "Restart", deactivate the technology object with
possible. "MC_Power.Enable"FALSE.
16#800F The technology object is disabled. The job Enable the technology object with
cannot be executed. "MC_Power.Enable" = TRUE. Restart the job.
16#8010 Invalid homing mode for incremental encod- Absolute value adjustment is not possible with an incremental
er. encoder ("Mode" = 6, 7).
Start a homing process for an incremental encoder using
parameter "Mode" = 0, 1, 2, 3, 5, 8, 10.
16#8011 Invalid homing mode for absolute encoder. Passive and active homing ("Mode" = 2, 3, 5, 8, 10) are not
possible for an absolute value encoder.
Start a homing process for an absolute encoder using param-
eter "Mode" = 0, 1, 6, 7.
16#8012 Job cannot be executed - axis control panel Return master control to the user program. Restart the job.
is activated.
16#8013 The online connection between the CPU Check the online connection to the CPU.
and the TIA Portal is down.
16#8014 No internal job memory available. The maximum number of motion control jobs has been
reached.
Reduce the number of jobs to be executed (parameter
"Execute" = FALSE).
16#8015 Error acknowledgement with MC_Reset" not Check the configuration of the technology object.
possible. Error in the configuration of the
technology object.
16#8016 The actual values are not valid. The actual values must be valid in order to execute a
MC_Home job.
Check the status of the actual values. The
"<TO>.StatusSensor[n].State" tag of the technology object
must show the value 2 (valid).
16#8017 Invalid value for gear ratio numerator. Set a valid value at parameter "RatioNumerator" for the gear
ratio numerator.
-2147483648 to 2147483648
(value 0 not permitted)
16#8018 Invalid value for gear ratio denominator. Set a valid value at parameter "RatioDenominator" for the
gear ratio denominator.
1 to 2147483648
16#8019 Job cannot be executed. The specified fol- Recursive interconnections are not possible. A leading axis
lowing axis is the original master value for cannot be interconnected as following axis to its own master
the synchronous operation chain. value. Set a valid following axis at parameter "Slave".
16#8FFF Unspecified error Please contact the Siemens agent at your local agency or
branch. You will find information on whom to contact at:
Contact information for Industry Automation and Drive Tech-
nologies (http://www.siemens.com/automation/partner)

Appendix
A.6 MC_Power function chart
See also
Errors in Motion Control instructions (Page 219)
A.6.1 Drive connection via PROFIdrive
A.6.1.1 StopMode 0
Function chart: Enabling a technology object and disabling with "StopMode" = 0
① The axis decelerates with the configured emergency stop deceleration.

Appendix
A.6.1.2 StopMode 1
① The deceleration ramp depends on the configuration in the drive.

Appendix
A.6.1.3 Alarm response "Stop with maximum dynamic values"
Function chart: Enabling a technology object and occurrence of a technology alarm with alarm
response "Stop with maximum dynamic values"
① The axis decelerates with the configured maximum deceleration.

② The technology alarm is acknowledged.

Appendix
A.6.1.4 Alarm response "Remove enable"
response "Remove enable"

② The technology alarm is acknowledged at time ②.

Appendix
A.6.2 Analog drive connection
A.6.2.1 StopMode 0
① The axis decelerates with the configured emergency stop deceleration.

Appendix
A.6.2.2 StopMode 1

The behavior of the ready signal of the drive "DI DriveReadyInput" is manufacturer-specific.

Appendix
A.6.2.3 Alarm response "Stop with maximum dynamic values"
response "Stop with maximum dynamic values"
① The axis decelerates with the configured maximum deceleration.


Appendix
A.6.2.4 Alarm response "Remove enable"
reaction "Remove enable"


Appendix
A.7 SINAMICS drives
A.7 SINAMICS drives
A.7.1 Homing SINAMICS drives with external zero marks

For SINAMICS drives with external zero marks, synchronization during homing must always
occur on the left side of the external zero mark's signal. That is to say, with a positive
direction of travel synchronization is done on a positive edge, and with a negative direction of
travel synchronization is done on a negative edge.
By inverting the signal, synchronization can also be done on the right sight of the signal of
the external zero mark. The inversion can be configured in the drive using SINAMICS
parameter P490.
Homing to an encoder zero mark or an external zero mark is configured in SINAMICS
parameter P495.

Glossary
Absolute value encoder

Position encoder which outputs the position in the form of a digital numerical value. This
numerical value is unique within the entire resolution range of the absolute value encoder.
Axis control panel

The axis control panel allows you to move the axis in manual mode, optimize the axis
settings, and test the operation of the axis in your system.
Axis type
The axis type differs depending on the unit of measurement according to which the axis is
positioned.
Depending on the execution of the mechanics, an axis is implemented as a linear axis or
rotary axis:
● For linear axes, the position of the axis is specified as a linear measure,
e.g. millimeters (mm).
● For rotary axes, the position of the axis is specified as an angular measure,
e.g. degrees (°).
Communication processor (CP)

Module for expanded communications tasks covering special applications, for example in the
area of security.
Communications module (CM)

Module for communications tasks which is used as an interface expansion of the CPU
(for example PROFIBUS) or provides additional communications options (e.g. PtP) in an
automation system.
Drive
The combination of motor (electric or hydraulic), actuator (converter, valve), control system,
measuring system and supply (infeed, accumulator).
Dynamic Servo Control (DSC)

In drives that support DSC, you can optionally use the position controller in the drive. The
position controller in the drive is usually implemented with a rapid speed-control cycle. This
improves the control performance for digitally coupled drives.

Glossary
Following error
The following error is the difference between the position setpoint and the actual position
value. The transmission times of the setpoint to the drive, and of the actual position value to
the controller, are taken into account in the calculation of the following error.
GSD file
As a Generic Station Description, this file contains all properties of a PROFINET or
PROFIBUS device that are necessary for its configuration.
Hardware limit switch

Mechanical limit position switch that limits the maximum permissible traversing range of the
axis.
Homing
With homing, you create the relationship between the position in the technology object and
the mechanical position of the axis. The position value in the technology object is assigned
to a homing mark at the same time. This homing mark represents a known mechanical
position.
Incremental encoder
Position encoder which outputs the position change incrementally in the form of a digital
numerical value.
Kv factor
Velocity gain
Gain factor in position control loop
Master value
Input variable for synchronous operation
Motion Control instruction

Use the Motion Control instructions to start Motion Control jobs at technology objects in your
user program and thus execute the desired functionality at the technology objects. You track
the status of running jobs with the output parameters of the Motion Control instructions.
Override

Glossary
PROFIdrive
PROFIdrive is a profile specified by the PNO (PROFIBUS user organization) for
PROFIBUS DP and PROFINET IO for speed- and position-controlled drives.
PROFIdrive frame
Frame for communication according to PROFIdrive.
Proximity switch
Position switch which is activated with the moving part without mechanical contact.
Restart
The technology object is reinitialized with the current configuration parameters.
Software limit switch

A programmable position which limits the traversing range of an axis.
Synchronous operation
Defined movement of a following axis to a leading axis.

The technology data block represents the technology object and contains all configuration
data, setpoint and actual values, and status information of the technology object.
Technology interrupt
If an error occurs at a technology object (e.g. approaching a hardware limit switch), then a
technology interrupt is triggered and indicated.
The impact of a technology interrupt on the technology object is specified by the interrupt
reaction (e.g. remove enable). The interrupt reaction is specified by the system.
Technology module (TM)

Module for technological tasks, e.g. counting, measuring and positioning.
Zero mark
Position reference for the movement of rotary and linear incremental encoders. The zero
mark of an incremental encoder is used as a homing mark, for example.

Index
A G
Absolute actual value, 35 Gear ratio, 74
Absolute value adjustment, 39, 56 Gearing, 74
Active homing, 39, 43, 46, 48, 136
Actuator, 19
Axis control panel, 202, 206 H
Axis type, 26
Hardware limit switches, 65, 129
Hardware limit switches, 65, 129
Home position, 40
C
Homing mark, 40
Clock reduction, 78
Closed-loop position control, 59, 60, 146
Control, 59, 60, 146 I
Incremental actual value, 35
Interpolator OB, 78, 80
D
Default for the dynamics, 70, 132
Diagnostics J
S7-1500 Motion Control, 214, 219
Jerk limit, 70, 130, 132
Direct homing, 39, 56
Direction reversal at the hardware limit switch, 41, 55,
137
L
DSC (Dynamic Servo Control), 59, 60, 146
Dynamic Servo Control (DSC), 59, 60, 146 Leadscrew pitch, 37, 38, 125
Limit switch, 65, 67, 129
Limits for dynamics, 69, 130
E Linear axis, 26
Load gear, 37, 38, 125
Emergency stop deceleration, 71, 134
Error ID, 219, 386
ErrorID
M
Basics, 214, 219
List of ErrorIDs, 386 Master control, 202
Errors in Motion Control instructions, 214, 219, 386 Master value coupling, 76
External encoder MC_GearIn, 270, 274
Add, 99 MC_Halt, 275, 278
Basics, 18, 25 MC_Home, 239
Configuration, 147 MC_MoveAbsolute, 260, 264
Diagnostics, 231, 232, 233 MC_MoveJog, 244, 248
Functions, 20 MC_MoveRelative, 255, 259
Tags, 358 MC_MoveSuperimposed, 265, 269
MC_MoveVelocity, 249, 254
MC_Power, 234, 238
F MC_Reset, 279
MC-Interpolator OB, 78, 80
Following error monitoring, 61, 63, 64, 144

Index
MC-Servo OB, 78, 80 Mechanics, 37, 38, 125

Modulo, 26, 110 Modulo, 26, 110
Motion Control Instruction, 18, 20, 178, 181, 183
Position limits, 65, 67, 68, 129
O Position monitoring, 61, 63, 64, 144, 145
Principle of operation, 16
Optimize position controller, 207, 210
Process response, 78, 80, 80
PROFIdrive, 28, 31
Programming, 172, 178, 183, 197
P
Scale, 21
Passive homing, 39, 50, 52, 54, 140 Synchronous operation, 73, 74, 76, 77, 124
Position limits, 65, 67, 68, 129 Technology alarms, 214, 368
Positioning axis Technology data block, 18, 172, 175, 177
Add, 99 Technology object, 17, 20, 21, 23, 25, 99, 110, 197
Basics, 17, 22 Unit of measure, 27
Configuration, 110 Versions, 86, 89
Diagnostics, 225, 229, 230 S7-1500 Motion Control actual value, 35
Functions, 20 S7-1500 Motion Control commissioning, 199, 199, 202,
Tags, 332 206, 207, 210
Positioning monitoring, 61, 64, 144 S7-1500 Motion Control drive connection, 19, 28, 29,
Process image partition "OB Servo PIP", 80 31, 32, 91, 94, 96, 111, 114
PROFIdrive, 28, 31 S7-1500 Motion Control encoder connection, 19, 28,
Proximity switch, 40 29, 31, 32, 91, 94, 96, 113, 114
S7-1500 Motion Control frame, 29, 31, 32, 114
S7-1500 Motion Control homing
R Absolute value adjustment, 39, 56
active, 39, 43, 46, 48, 136
Ramp-down time, 130, 132
Basics, 39
Ramp-up time, 130, 132
Configuration, 135
Reinitialization of technology objects, 197
direct, 39, 56
Restart of technology objects, 197
Home position, 40
Reversing cam, 41, 55, 137
Homing mark, 40
Rotary axis, 26
Homing mode, 40, 41
on the fly, 39, 50, 52, 54, 140
passive, 39, 50, 52, 54, 140
S
Proximity switch, 40
S7-1500 Motion Control Reversing cam, 41, 55, 137
Actual value, 35 Zero mark, 40
Axis type, 26 S7-1500 Motion Control instruction, 18
Commissioning, 199, 199, 202, 206, 207, 210 Completing Motion Control job, 196
Configuration, 99, 100, 101, 110 Errors in Motion Control instructions, 214, 219, 386
Control, 59, 60, 146 Inserting, 181
Diagnostics, 214, 219 Overview, 20
Downloading to CPU, 198 Parameter, 178
Drive and encoder connection, 19, 28, 29, 31, 32, Starting Motion Control job, 183
91, 94, 96, 111, 113, 114 Tracking Motion Control job, 184
Dynamic defaults, 69, 70, 72, 130, 132 S7-1500 Motion Control mechanics, 37, 38, 125
Frame, 29, 31, 32, 114 S7-1500 Motion Control operating mode, 83
Guidelines for operation, 85 S7-1500 Motion Control optimization, 207, 210
Homing, 39, 40, 41, 43, 50, 55, 56, 58, 135, 136, Sensor, 19
140 Servo OB, 78, 80
Introduction, 15 Software limit switch, 65, 67, 129

Index
Speed axis V
Add, 99
Velocity profile, 70
Basics, 17, 21
Configuration, 102
Diagnostics, 220, 223, 224
Z
Functions, 20
Tags, 321 Zero mark, 40
Synchronous axis
Add, 99
Basics, 18, 23
Diagnostics, 225, 229, 230
Functions, 20
Tags, 332
Synchronous operation, 73, 74, 76, 124
T
Tags of the positioning axis technology object, 332
Tags of the synchronous axis technology object, 332
Tags of the technology object external encoder, 358
Tags of the technology object SpeedAxis, 321
Technology alarms
Basics, 214
List of the technology alarms, 368
Analyzing, 173
Basics, 18, 172
Change restart-relevant data, 177
Evaluate StatusWord, ErrorWord and
WarningWord, 175
Tags of the positioning axis technology object, 332
Tags of the synchronous axis technology
object, 332
Tags of the technology object external encoder, 358
Tags of the technology object SpeedAxis, 321
Technology object
External encoder, 18, 20, 25, 99, 147, 231, 232,
233
Positioning axis, 17, 20, 22, 99, 110, 225, 229, 230
Speed axis, 17, 20, 21, 99, 102, 220, 223, 224
Synchronous axis, 18, 20, 23, 99, 110, 225, 229,
230
Traversing range limitation, 65, 67, 68, 129
Type of encoder mounting, 37, 38, 125
U
Unit of measure, 27


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S7-1500 Motion Control V13 Update 3 ___________________

Siemens AG A5E03879256-AC Copyright © Siemens AG 2013 - 2014.

Purpose of the documentation

Required basic knowledge

Validity of the documentation

S7-1500 Motion Control V13 Update 3

S7-1500 Motion Control V13 Update 3

S7-1500 Motion Control V13 Update 3

S7-1500 Motion Control V13 Update 3

S7-1500 Motion Control V13 Update 3

6.8.3 Opening the parameter view ................................................................................................ 163

S7-1500 Motion Control V13 Update 3

10 Diagnostics ............................................................................................................................................ 214

S7-1500 Motion Control V13 Update 3

11.2 S7-1500 Motion Control V1.................................................................................................. 282

S7-1500 Motion Control V13 Update 3

A.2.11 DynamicDefaults tags (positioning axis/synchronous axis) ..................................................340

S7-1500 Motion Control V13 Update 3

A.6.2 Analog drive connection....................................................................................................... 392

S7-1500 Motion Control V13 Update 3

S7-1500 Motion Control V13 Update 3

Manual Collection S7-1500 / ET 200MP

Applications & Tools

CAx Download Manager

S7-1500 Motion Control V13 Update 3

S7-1500 Motion Control V13 Update 3

2.2 Principle of operation of S7-1500 Motion Control

S7-1500 Motion Control V13 Update 3

S7-1500 Motion Control V13 Update 3

● Synchronous axis technology object

Technology data block

Motion Control instructions

The Motion Control instructions conform to PLCopen (version 2.0).

S7-1500 Motion Control V13 Update 3

Drives and encoders

S7-1500 Motion Control V13 Update 3

Function Speed axis Positioning axis Synchronous axis External encoder

S7-1500 Motion Control V13 Update 3

3.3 Speed-controlled axis technology object

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3.4 Positioning axis technology object

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3.5 Synchronous axis technology object

Leading axis (driven axis)

Relative position relationship

S7-1500 Motion Control V13 Update 3

S7-1500 Motion Control V13 Update 3

3.6 External encoder technology object

Specification of the position occurs according to the selected system of units:

S7-1500 Motion Control V13 Update 3

3.7 Axis types

3.8 Modulo setting

S7-1500 Motion Control V13 Update 3

3.9 Units of measure

The acceleration is configured accordingly as unit of measure of the position/s².

S7-1500 Motion Control V13 Update 3

3.10 Drive and encoder connection

3.10.1 Brief description

S7-1500 Motion Control V13 Update 3

Explanation of the figure:

S7-1500 Motion Control V13 Update 3

Frame Brief description

S7-1500 Motion Control V13 Update 3

3.10.3 Setting reference values